Adaptive PID Trajectory Tracking Control of Tracked Desilting Robot in Complex Underwater Well-sinking Environment

Qiyu Chen,Zhongyu Ding,Qiang Zhang,Yan Zhang,Yang Liu,Zewen Tao

2021 International Conference on Computer Communication and Artificial Intelligence (CCAI)（2021）

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摘要

In order to solve the problem that the desilting tracked robot is affected by the time-varying bounded disturbance and model parameter uncertainty. Based on the kinematics and dynamics model of the non-coincidence of the mass center and geometric center, and use the adaptive technology to design the adaption PID trajectory tracking controller. The controller not only has the advantages of traditio...

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关键词

Adaptation models,Uncertain systems,Trajectory tracking,Simulation,Kinematics,Stability analysis,Robustness

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