Research on Coordinated Control for the Floating Body and Mining Robot

The mining robot, which has a large size and weight, is easy to slip and sink during the mining process. For this problem, we propose hydraulic station suspension technology in this paper. By using the technology, the hydraulic station is separated from the mining robot and designed as an independent floating body, which is helpful for increasing the travelling capability of mining robot. The relative position between the floating body and mining robot can be obtained by UKF. Based on this, we study a coordinated control algorithm for the floating body and mining robot in this paper. The coordinate motion controller, whose convergence is proved by LaSalle's invariance principle, is designed according to the potential energy function of the floating body and mining robot. The algorithm is tested by using MATLAB. The results show that the coordination control algorithm can maintain the relative positions between the floating body and mining robot and make them do coordinate motion, which can be free from the effect of ocean current.