| There is abundant mineral resource in the deep seabed. With the growing shortage of land resources, the importance of deep-sea mining is increasing. Moving the vehicle tracking the planning path is one of the basic demands. The mining efficiency and stability are largely depended on the trace tracking precision.The mining vehicle working in the deep seabed suffered the random interference. The purpose of researching is to find a tracking control algorithm to make sure the vehicle tracking error less than one meter. The mining vehicle dynamics model is established upon the movement of the robot and differential steering. The variable pump and motor model are erected. The sliding mode variable structure algorithm is used to eliminate the vehicle pose error. The PID controller is chosen to track velocity. Using the variable structure control theory and the backstep-method, based on the mining vehicle dynamic model, the variable function and sliding controller are designed. Taking into account of the mining vehicle dynamic constraints, the speed and acceleration are limited to ensure the vehicle smoothly move. For abating the quiver, a successive function is designed as the reaching law.The mining vehicle control system is simulated. The system initial error is given and the interference is added. The variable structure control algorithm has been testified effectively. This tracking approach enables the vehicle obtain high tracking precision with a small quiver. |
