Study on the Backstepping Sliding Mode-Based Tracking Control Method for the SUR

Chunying Li1; Shuxiang Guo1,2

10.1109/ICMA61710.2024.10632882

2024-08-07

2152-7431

979-8-3503-8808-4

2024 IEEE International Conference on Mechatronics and Automation (ICMA)

4-7 Aug. 2024

Tianjin, China

To improve autonomous and tracking capabilities when the spherical underwater robot (SUR) performs complex tasks such as inspection, patrol and aquaculture, etc. This paper presented a path tracking method rooted in backstepping sliding mode control (BSMC) for the SUR. Through the derivation of the robot’s kinematic and dynamic models, a novel control scheme for the SUR was developed. Then, the Lyapunov function was applied to enhance the stability and robustness of the BSMC in unknown environments. Ultimately, this paper utilized Matlab to carry out the path tracking simulation of the SUR, thereby validating the effectiveness of the proposed method. The experimental results demonstrated that the proposed BSMC method boosted the SUR’s path tracking capabilities and met the task’s requirements.

第一

1.The Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China
2.The Aerospace Center Hospital, School of Life Science and the Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing, China

Chunying Li,Shuxiang Guo. Study on the Backstepping Sliding Mode-Based Tracking Control Method for the SUR[C],2024.