Adaptive sliding mode trajectory tracking control of crawler underwater dredging robot

to solve the crawler desilting underwater robot trajectory tracking control problem, considering the center of mass and geometric center misalignment conditions and matrix system friction cannot be accurately modeled and outside unknown bounded disturbances, movement kinematics and dynamics model is established, the adaptive sliding mode technique is used to estimate unmodeled and unknown bounded disturbances, a nonlinear adaptive sliding mode controller is designed, and by using Lyapunov stability theory proves that the global stability of the controller. It has the characteristics of simple design method and strong robustness. Finally, two simulation examples are given to verify the effectiveness and correctness of the proposed control law