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Adaptive Robust Control for Planar Snake Robots

Part of the book series: Studies in Systems, Decision and Control ((SSDC,volume 363))

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Abstract

This book aims to address the robustness issues encountered in controlling the motion of a snake robot when moving on surfaces with varying ground conditions. The snake robot considered in this book is an articulated serial chain robot with multiple binary links connected through active joints. Classically, planar snake robots achieve translation by leveraging differential friction characteristics in different directions by creating undulations in its body. Hence, the quality of the contact and determination of the variables contributing to the contact and friction forces are crucial toward the efficient motion planning of a planar snake robot. Variation in the ground condition in particular will have a significant effect on the tracking performance of the robot which has to be dealt with through effective controller design. In this book, adaptive robust control techniques like Sliding-Mode Control (SMC), Adaptive SMC (ASMC), Time-Delayed Control (TDC) and Adaptive Robust TDC (ARTDC) have been employed to achieve robustness in tracking the performance of planar snake robot while trading off between performance, input effort and limits or determinism of parameters.

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Authors and Affiliations

  1. SDU Robotics, The Mærsk Mc-Kinney Møller Institute, University of South Denmark, Odense, Denmark

    Joyjit Mukherjee

  2. Department of Electrical Engineering, Indian Institute of Technology Delhi, New Delhi, Delhi, India

    Indra Narayan Kar

  3. Department of Mechanical Engineering, Indian Institute of Technology Delhi, New Delhi, Delhi, India

    Sudipto Mukherjee

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  1. Joyjit Mukherjee
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  2. Indra Narayan Kar
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  3. Sudipto Mukherjee
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Correspondence to Joyjit Mukherjee .

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Mukherjee, J., Kar, I.N., Mukherjee, S. (2021). Introduction. In: Adaptive Robust Control for Planar Snake Robots. Studies in Systems, Decision and Control, vol 363. Springer, Cham. https://doi.org/10.1007/978-3-030-71460-4_1

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