Trajectory Tracking Control of Deep Sea Mining Vehicle Based on Iterative Learning Algorithm

In this paper, an open-loop and closed-loop iterative learning control algorithm based on iterative learning theory is proposed to study the working characteristics and control technology of deep-sea mining vehicles. In this method, the deviation of the heading angle and the trajectory deviation are taken as the feedback correction variables in each iteration, and the trajectory deviation of the desired trajectory is corrected continuously, so that the motion trajectory can be precisely controlled.