Trajectory Tracking Control of Tracked Underwater Dredging Robot

Abstract

In order to solve the trajectory tracking control problem of underwater dredging operation of tracked robot, considering that the center of mass does not coincide with the geometric center of the robot, the kinematics and dynamics motion model is established. The kinematics and dynamics controller are designed based on Backstepping method, and the global stability of the controller is proved by Lyapunov stability theory. The effectiveness of the designed controller is proved by simulation.