Super-Twisting Sliding Mode Control of ROV Systems with Prescribed Performance under Actuator Saturation and Unknown Disturbances

This work examines the motion control of a remotely operated vehicle (ROV) in the presence of unknown disturbances and actuator saturation limitations. A composite ROV controller is designed by integrating super-twisting sliding mode control (STSMC) with prescribed performance control (PPC) to achieve specified dynamic and steady-state performance. To improve system robustness, an extended state observer (ESO) is integrated to estimate and mitigate complicated external disturbances. Furthermore, the anti-saturation auxiliary system is designed to mitigate actuator saturation, which is essential for the effective implementation of ROV systems. Simulation results indicate that the designed control technique successfully mitigates disturbances, reduces chattering, and preserves optimal stability and dynamic performance of the ROV. The proposed strategy attains superior convergence speed and enhanced tracking precision relative to traditional control methods.