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Trajectory tracking control of a crawler maneuvering structure via backstepping–PSO parameter optimization.

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Název: Trajectory tracking control of a crawler maneuvering structure via backstepping–PSO parameter optimization.
Autoři: Zhang, Chen1 (AUTHOR), Zhang, Hong1 (AUTHOR) hexie007@tyust.edu.cn, Tian, Lichen1 (AUTHOR), Li, Jucai1 (AUTHOR), Yan, Honghong1 (AUTHOR)
Zdroj: Journal of Mechanical Science & Technology. Dec2025, Vol. 39 Issue 12, p7763-7774. 12p.
Témata: *BACKSTEPPING control method, *PARTICLE swarm optimization, *MOBILE robot control systems, *FEEDBACK control systems, *KINEMATICS, *DYNAMIC stability, *ROBOTIC trajectory control, *COAL mining
Abstrakt: The continuous miner encountered challenges, such as low trajectory tracking accuracy, significant external interference, and poor motion stability, when conducting coal mining operations within the complex mine roadway environment. This study proposes a trajectory tracking control method for the crawler maneuvering structure utilizing the backsteppingparticle swarm optimization (PSO) method to achieve effective and accurate trajectory tracking control. First, the relationship between the pose error of the crawler maneuvering structure and the linear and angular velocities is analyzed based on kinematic theory. Second, a comparison and analysis are conducted on the influence of commonly used virtual feedback control input functions on the convergence effect of the controlling error. Subsequently, a globally stable backstepping kinematic control law for the crawler maneuvering structure is designed by incorporating Lyapunov stability. Finally, PSO is utilized to optimize the control law. Results demonstrate that the backstepping kinematic control law, utilizing the hyperbolic tangent function as the virtual feedback control input, can effectively achieve trajectory tracking control of the crawler maneuvering structure in an ideal state. The optimized backstepping–PSO controller significantly enhances the efficiency and accuracy of trajectory tracking control for the crawler maneuvering structure. [ABSTRACT FROM AUTHOR]
Databáze: Academic Search Index
Popis
Abstrakt:The continuous miner encountered challenges, such as low trajectory tracking accuracy, significant external interference, and poor motion stability, when conducting coal mining operations within the complex mine roadway environment. This study proposes a trajectory tracking control method for the crawler maneuvering structure utilizing the backsteppingparticle swarm optimization (PSO) method to achieve effective and accurate trajectory tracking control. First, the relationship between the pose error of the crawler maneuvering structure and the linear and angular velocities is analyzed based on kinematic theory. Second, a comparison and analysis are conducted on the influence of commonly used virtual feedback control input functions on the convergence effect of the controlling error. Subsequently, a globally stable backstepping kinematic control law for the crawler maneuvering structure is designed by incorporating Lyapunov stability. Finally, PSO is utilized to optimize the control law. Results demonstrate that the backstepping kinematic control law, utilizing the hyperbolic tangent function as the virtual feedback control input, can effectively achieve trajectory tracking control of the crawler maneuvering structure in an ideal state. The optimized backstepping–PSO controller significantly enhances the efficiency and accuracy of trajectory tracking control for the crawler maneuvering structure. [ABSTRACT FROM AUTHOR]
ISSN:1738494X
DOI:10.1007/s12206-025-1136-y