Abstract
This paper is devoted to the adaptive control of worm-systems, which are inspired by biological ideas. We introduce a certain type of mathematical models of finite DOF worm-like locomotion systems: modeled as a chain of k interconnected (linked) point masses in a common straight line (a discrete straight worm). We assume that these systems contact the ground via (1) spikes and then (2) stiction combined with Coulomb sliding friction (modification of a Karnopp friction model). In general, one cannot expect to have complete information about a sophisticated mechanical or biological system, 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 to the use of adaptive control. Gaits from the kinematical theory (preferred motion patterns to achieve movement) can be tracked by means of adaptive controllers (λ-trackers). Simulations are aimed at the justification of theoretical results.
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Behn, C., Zimmermann, K. (2013). Control of Chains of Mass Points in a Frictional Environment. In: Wiercigroch, M., Rega, G. (eds) IUTAM Symposium on Nonlinear Dynamics for Advanced Technologies and Engineering Design. IUTAM Bookseries (closed), vol 32. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-5742-4_33
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DOI: https://doi.org/10.1007/978-94-007-5742-4_33
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