Dynamic model-based back-stepping control design for-trajectory tracking of seabed tracked vehicles | |
Xiong, Hong2; Chen, Yuxiang2; Li, Yuxiao2; Zhu, Hong2; Yu, Chunliang2; Zhang, Jingguo1,2 | |
刊名 | JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY
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2022-07-27 | |
卷号 | 36 (8) 2022页码:4221~4232 |
关键词 | Dynamic analysis Tracked vehicle Hydrodynamics force Trajectory tracking control Nonholonomic constraint |
ISSN号 | 1738-494X |
DOI | 10.1007/s12206-022-0740-3 |
通讯作者 | Chen, Yuxiang |
英文摘要 | Tracked vehicles are widely used as seabed production tools to ensure a stable motion on soft sediments. However, the slippage resulted from the complex nonlinear trackterrain interaction while trajectory tracking causes problems for precisely predicting the motion. Accordingly, a "proper" motion control method is necessitated. This work proposes a novel dynamic modeling approach and motion control method for seabed tracked vehicles under nonholonomic constraints, with the inclusion of the effects of the bulldozing resistance, compaction resistance, water resistance, and the direction and velocity of the current. The back-stepping control based on a model-based proportional-integral-derivative three degrees-of-freedom method is applied in the controller, and its stability is proven by Lyapunov theory. The effectiveness and accuracy of the method in controlling seabed tracked vehicles are validated by simulation examples. |
资助项目 | Strategic Priority Research Program (A) of the Chinese Academy of Sciences[XDA22040305] ; Youth Innovation Promotion Association, Chinese Academy of Sciences[2020362] ; State Key Laboratory of Ocean Engineering (Shanghai Jiao Tong University)[GKZD010081] |
WOS关键词 | TERRAIN INTERACTION ; SIMULATION ; MINER |
WOS研究方向 | Engineering |
语种 | 英语 |
出版者 | KOREAN SOC MECHANICAL ENGINEERS |
WOS记录号 | WOS:000830979400009 |
资助机构 | Strategic Priority Research Program (A) of the Chinese Academy of Sciences ; Youth Innovation Promotion Association, Chinese Academy of Sciences ; State Key Laboratory of Ocean Engineering (Shanghai Jiao Tong University) |
内容类型 | 期刊论文 |
源URL | [http://ir.idsse.ac.cn/handle/183446/9668] ![]() |
专题 | 深海工程技术部_深海资源开发研究室 |
通讯作者 | Chen, Yuxiang |
作者单位 | 1.Tsinghua Shenzhen Int Grad Sch, Shenzhen 518071, Peoples R China 2.Chinese Acad Sci, Inst Deep Sea Sci & Engn, Sanya 572000, Peoples R China |
推荐引用方式 GB/T 7714 | Xiong, Hong,Chen, Yuxiang,Li, Yuxiao,et al. Dynamic model-based back-stepping control design for-trajectory tracking of seabed tracked vehicles[J]. JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY,2022,36 (8) 2022:4221~4232. |
APA | Xiong, Hong,Chen, Yuxiang,Li, Yuxiao,Zhu, Hong,Yu, Chunliang,&Zhang, Jingguo.(2022).Dynamic model-based back-stepping control design for-trajectory tracking of seabed tracked vehicles.JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY,36 (8) 2022,4221~4232. |
MLA | Xiong, Hong,et al."Dynamic model-based back-stepping control design for-trajectory tracking of seabed tracked vehicles".JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY 36 (8) 2022(2022):4221~4232. |
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