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

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 traditional PID, but also has good robustness. Then the stability of the controller is proved by Lya-punov theory. Finally, the simulation results prove the effectiveness of the scheme, and provide a theoretical reference for solving the related problems of robot underwater trajectory tracking.