To solve the trajectory tracking control problem of deep-sea polymetallic sulfide mining vehicle, this paper proposes an adaptive backstepping trajectory tracking control algorithm based on the kinematics model of deep-sea polymetallic sulfide mining vehicle, aiming for accurate tracking and taking into consideration the effect of error and interference. The closed-loop control system’s stability and convergence is proved by Lyapunov stability theory, and its effectiveness is further verified by simulations. Results from the simulation have demonstrated that the proposed algorithm has good robustness in realizing trajectory tracking control.
Design of trajectory tracking control system for deep-sea polymetallic sulfide mining vehicle
Eighth International Conference on Electromechanical Control Technology and Transportation (ICECTT 2023) ; 2023 ; Hangzhou, China
Proc. SPIE ; 12790
07.09.2023
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Design of trajectory tracking control system for deep-sea polymetallic sulfide mining vehicle
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