G. Xue, Zhongyu Ding, Qiang Zhang, Yang Liu, Yancai Hu, Zewen Tao
{"title":"履带式水下疏浚机器人的轨迹跟踪控制","authors":"G. Xue, Zhongyu Ding, Qiang Zhang, Yang Liu, Yancai Hu, Zewen Tao","doi":"10.1109/ICCRE51898.2021.9435725","DOIUrl":null,"url":null,"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.","PeriodicalId":382619,"journal":{"name":"2021 6th International Conference on Control and Robotics Engineering (ICCRE)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2021-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Trajectory Tracking Control of Tracked Underwater Dredging Robot\",\"authors\":\"G. Xue, Zhongyu Ding, Qiang Zhang, Yang Liu, Yancai Hu, Zewen Tao\",\"doi\":\"10.1109/ICCRE51898.2021.9435725\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":382619,\"journal\":{\"name\":\"2021 6th International Conference on Control and Robotics Engineering (ICCRE)\",\"volume\":\"7 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2021-04-16\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2021 6th International Conference on Control and Robotics Engineering (ICCRE)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICCRE51898.2021.9435725\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2021 6th International Conference on Control and Robotics Engineering (ICCRE)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICCRE51898.2021.9435725","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Trajectory Tracking Control of Tracked Underwater Dredging Robot
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.
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