Anti-sideslip Line of Sight Method-based Path Tracking Control for a Multi-joint Snake Robot - Details

author：

Xiu, Yang (Xiu, Yang.) ^[1] | Li, Dongfang (Li, Dongfang.) ^[2] (Scholars：李东方) | Zhang, MiaoMiao (Zhang, MiaoMiao.) ^[3] | Law, Rob (Law, Rob.) ^[4] | Wu, Edmond Q. (Wu, Edmond Q..) ^[5]

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Abstract：

This　paper　reports　an　anti-sideslip　line　of　sight　(LOS)　method-based　path　tracking　control　method　for　a　multi　joint　snake　robot.　In　order　to　effectively　eliminate　the　sideslip　influence　on　direction　guidance,　a　finite-time　convergent　sideslip　observer　is　designed　to　compensate　the　LOS　guidance　law　and　improve　the　steering　accuracy　of　the　robot.　Additionally,　considering　the　external　disturbance　and　state　constraints,　a　barrier　Lyapunov　function-based　backstepping　adaptive　controller　is　proposed　to　ensure　the　environmental　robustness　of　the　robot.　In　this　work,　the　sideslip　and　interference　are　observed　accurately,　avoiding　the　imprecise　constraint　conditions.　Finally,　the　validity　and　feasibility　of　the　proposed　method　are　proved　by　theoretical　proof　and　numerical　simulation.　©　2022　IEEE.

Keyword：

Backstepping Lyapunov functions Navigation Numerical methods Robots

Community：

[ 1 ] [Xiu, Yang]The School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China
[ 2 ] [Li, Dongfang]The School of Electrical Engineering and Automation, Fuzhou University, Fuzhou, China
[ 3 ] [Zhang, MiaoMiao]Shanghai Jiao Tong University, The Department of Automation, Shanghai, China
[ 4 ] [Law, Rob]The Asia-Pacific Academy of Economics and Management, University of Macau, Macau, China
[ 5 ] [Wu, Edmond Q.]Shanghai Jiao Tong University, The Department of Automation, Shanghai, China