An adaptive control system for perturbed ROVs in discrete sampling missions with optimal-time characteristics

An approach to direct adaptive control and a fast guide system design for 3D path tracking for full actuated ROVs is presented. This combines a speed-gradient algorithm with and optimal-time path following algorithm. The work is oriented to applications of systematic sampling missions on the sea bottom. Here, the perturbed case is treated, in where several disturbances like flow, cable tugs and stepwise mass-variation are assumed acting on the vehicle. The algorithm for optimal- time path tracking is based on the generation of a virtual time that works as independent variable in any smooth geometric reference path, which is previously specified. So, the rate of the virtual time is maximized according to a state-dependent law that pushes the set of thrusts to the limits of saturation without crossing them. A suitable tactics for discrete sampling is developed and simulated together with the proposed adaptive approach.