Design of trajectory tracking control system for deep-sea polymetallic sulfide mining vehicle

Ken Chen; Xinguang Du; Songyu Li; Yang Cao

doi:10.1117/12.2689609

7 September 2023 Design of trajectory tracking control system for deep-sea polymetallic sulfide mining vehicle

Ken Chen, Xinguang Du, Songyu Li, Yang Cao

Proceedings Volume 12790, Eighth International Conference on Electromechanical Control Technology and Transportation (ICECTT 2023); 1279011 (2023) https://doi.org/10.1117/12.2689609
Event: 8th International Conference on Electromechanical Control Technology and Transportation (ICECTT 2023), 2023, Hangzhou, China

Abstract

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.

Citation Download Citation

Ken Chen, Xinguang Du, Songyu Li, and Yang Cao "Design of trajectory tracking control system for deep-sea polymetallic sulfide mining vehicle", Proc. SPIE 12790, Eighth International Conference on Electromechanical Control Technology and Transportation (ICECTT 2023), 1279011 (7 September 2023); https://doi.org/10.1117/12.2689609

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