Research on Motion Control of Underwater Robots Based on Sliding Mode Control

Abstract

The ocean harbors abundant mineral resources, and underwater robots, serving as critical tools for the exploration and exploitation of subsea resources, exhibit significant developmental potential. However, the complexity of marine environments poses substantial challenges for achieving precise control of these systems. This study implements a sliding mode variable structure control (SMVSC) algorithm into the autonomous control framework of remotely operated vehicles (ROVs), integrating a saturation function to suppress chattering phenomena. Simulation results demonstrate that the proposed sliding mode controller outperforms conventional PID and fuzzy PID controllers in terms of stability and robustness. Experimental validation through depth and heading stabilization tasks confirmed the efficacy and reliability of the control strategy. The findings of this research advance the field of underwater robotics by offering a robust theoretical framework and practical methodology for enhancing stable control in dynamic marine environments.