Straight Worms under Adaptive Control and Friction - Part 2: Adaptive Control
This is the second part of the contribution to the adaptive control of worm-systems, which are inspired by biological ideas. Part 1 is the basis for this part. We focus now on the adaptive control since one cannot expect to have complete information about a sophisticated mechanical or biological system in general. Only structural properties (known type of actuator with unknown parameters) are known. Additionally, in a rough terrain, unknown or changing friction coefficients lead to uncertain systems, too. The consideration of uncertain systems leads us now to the use of adaptive control. We still assume that the worm-system contacts the ground via spikes and track gaits from the kinematical theory (preferred motion patterns to achieve movement) by means of adaptive controllers (λ-trackers). Then we replace the worm-ground interaction by stiction combined with Coulomb sliding friction (modification of a Karnopp friction model) and point out the main differences for the worm-like locomotion.
KeywordsAdaptive Control Transient Process Adaptive Controller Uncertain System Gain Parameter
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