Research on Dual-Loop Sliding Mode Heading Control for ROVs Based on a Nonlinear Disturbance Observer

DOI: https://doi.org/10.62517/jike.202604403

Author(s)

Shengguo Liang1, Xiaoyu Zhao1, Yu Dong2,*

Affiliation(s)

1Tianjin Hanhai Lanfan Marine Technology Co., Ltd., Tianjin, China 2Hebei University of Technology, Tianjin, China *Corresponding Author

Abstract

In order to solve the issues of strong nonlinearity, underactuation, strong coupling, complex external disturbances, and difficulties in accurate modeling in ROVs, This paper addresses these challenges by designing a cascaded heading controller in which two sliding mode loops cooperate with a nonlinear disturbance observer (NDO). Heading angle regulation is assigned to the outer loop, whereas yaw-rate regulation is handled by the inner loop. Acting in real time, the NDO reconstructs the lumped disturbanceand feeds a compensation signal into the control channel, thereby strengthening the robustness of the closed loop. The inner-loop uses a modified double power reaching law to dynamically adjust the reaching speed and achieve fast convergence and chattering suppression. Both loops adopt integral sliding mode surfaces, which improve tracking accuracy, dynamic response, and control smoothness. The joint stability of the observer–controller combination is established within the Lyapunov framework; the analysis guarantees a faster convergence rate for the inner loop than for the outer loop, so that overall stability and heading tracking accuracy are preserved. Theoretical results indicate satisfactory disturbance rejection performance, and the scheme is suitable for engineering implementation.

Keywords

Heading Control; Disturbance Observer; Sliding Mode Control; Reaching Law; Robustness

References

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