Trajectory tracking control of tracked robot in underwater dredging operation under state constraints

Trajectory tracking control of tracked robot in underwater dredging operation under state constraints

ObjectiveThis study addresses the engineering problem of underwater tracked dredging robots sliding due to insufficient adhesion when dredging caissons in bridge construction. Therefore, a trajectory tracking controller based on the barrier Lyapunov function (BLF) is designed. MethodThe algorithm co...

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Bibliographic Details
Main Authors: Qiang ZHANG, Gaoyang GUO, Yancai HU, Yan ZHANG
Format: Article
Language:English
Published: Editorial Office of Chinese Journal of Ship Research 2023-06-01
Series:Zhongguo Jianchuan Yanjiu
Subjects:
tracked dredging robot
trajectory tracking
terminal sliding mode
bounded disturbance
barrier lyapunov function (blf)
Online Access:http://www.ship-research.com/en/article/doi/10.19693/j.issn.1673-3185.02720

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http://www.ship-research.com/en/article/doi/10.19693/j.issn.1673-3185.02720

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