Sliding Mode Control Method Based on a Fuzzy Logic System for ROVs with Predefined-Time Convergence and Stability

Anh Tuan Vo, Thanh Nguyen Truong, Ic-Pyo Hong () and Hee-Jun Kang
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Anh Tuan Vo: Department of Smart Information and Technology Engineering, Kongju National University, Cheonan 31080, Republic of Korea
Thanh Nguyen Truong: Department of Electrical, Electronic and Computer Engineering, University of Ulsan, Ulsan 44610, Republic of Korea
Ic-Pyo Hong: Department of Smart Information and Technology Engineering, Kongju National University, Cheonan 31080, Republic of Korea
Hee-Jun Kang: Department of Electrical, Electronic and Computer Engineering, University of Ulsan, Ulsan 44610, Republic of Korea

Mathematics, 2025, vol. 13, issue 10, 1-22

Abstract: This paper presents a predefined-time control approach to address slow convergence and instability in the orbit control of remotely operated vehicles (ROVs). The proposed method introduces tunable predefined-time stability (PTS), allowing precise adjustment of the system’s stability time through configurable parameters, thereby enhancing controller adaptability. A control input system ensures PTS is developed, while a fuzzy logic system (FLS) is employed to estimate unstructured uncertainties and disturbances. This integration improves robustness, reduces chattering, and eliminates singularities, making the approach well suited for systems with incomplete or unknown model data. Comprehensive simulations validate the effectiveness of the proposed method, demonstrating superior performance compared to existing control strategies and highlighting its potential for advanced ROV applications.

Keywords: remotely operated vehicles; sliding mode control; predefined-time stability; fuzzy logic systems (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2025
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