Robust Adaptive Motion Control for Underwater Remotely Operated Vehicles with Velocity Constraints

In this paper, robust adaptive control strategies are designed for Underwater Remotely Operated Vehicles (ROVs) with velocity constraints. First, robust control strategies are investigated for under-water ROVs, and then adaptive robust control strategies are further developed with online parameter estimation. To prevent the velocity constraint violation, the Barrier Lyapunov Function (BLF) is employed in Lyapunov synthesis. By ensuring the boundedness of the BLF, we also guarantee that the velocity constraints are not transgressed. The stability analysis of the closed-loop system is provided and all closed-loop signals are ensured to be bounded. Simulation results for 5 degree-of-freedom (DOF) underwater ROV demonstrate the effectiveness of the proposed approach.