A multivariable decoupling design of an ROV depth control system: a direct adaptive fuzzy SMC approach

This paper describes, an adaptive fuzzy sliding mode control (AFSMC) method applied to the control of the vertical motion of a minehunting ROV (remotely operated vehicle). The effects of parameter variation of the ROV are considered, and performance and robustness to uncertainty is assessed. The proposed control methodology addresses the fundamental issues of stability, performance requirements and model variation within a single framework. The effectiveness of the technique is demonstrated by its ability to decouple pitch and heave of the ROV subjected to parameter variation.