Slip control for deep sea mining vehicle: Sliding mode control approach

Hua Ouyang, Sui Ping Wang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The paper discusses the slip control problem of a type of deep-sea mining vehicle (DSMV) which is driven by valve controlled hydraulic motors. The dynamics of the DSMV on a slope with a side angle is considered and the mathematical model of relationship between traction force and resistances is established for slip control purpose. A sliding mode control algorithm is proposed to decrease the slip of the vehicle through adjusting the slip ratio of the tracks of the DSMV and an approach is developed to obtain the optimal slip rate. The simulations validate the efficacy of the proposed approach.

Original languageEnglish
Title of host publicationProceedings of the 35th Chinese Control Conference, CCC 2016
EditorsJie Chen, Qianchuan Zhao, Jie Chen
PublisherIEEE Computer Society
Pages6233-6238
Number of pages6
ISBN (Electronic)9789881563910
DOIs
Publication statusPublished - Aug 26 2016
Event35th Chinese Control Conference, CCC 2016 - Chengdu, China
Duration: Jul 27 2016Jul 29 2016

Publication series

NameChinese Control Conference, CCC
Volume2016-August
ISSN (Print)1934-1768
ISSN (Electronic)2161-2927

Other

Other35th Chinese Control Conference, CCC 2016
CountryChina
CityChengdu
Period7/27/167/29/16

Keywords

  • Deep-sea mining vehicle
  • Hydraulic Systems
  • Sliding Mode Control
  • Slip Control
  • Slip Rate

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering
  • Applied Mathematics
  • Modelling and Simulation

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