Paper Info
Title
Differential geometric modelling and robust path following control of snake robots using sliding mode techniques
Abstract
This paper considers straight line path following control of wheel-less planar snake robots using sliding mode techniques. We first derive the Poincaré representation of the equations of motion of the robot using the techniques of differential geometry. Furthermore, we use partial feedback linearization to linearize the directly actuated part of the system dynamics. Subsequently, we propose an analytical solution to the robust path following control problem in two steps. In the first step, we use sliding mode techniques to design a robust tracking controller for the joints of the robot to track a desired gait pattern. In the second step, we stabilize an appropriately defined sliding manifold for the underactuated configuration variables of the robot, thereby guaranteeing convergence of the robot to the desired straight path. The paper presents simulation results which validate the theoretical results.
Year
DOI
Venue
2014
10.1109/ICRA.2014.6907521
Robotics and Automation
Keywords
Field
DocType
differential geometry,feedback,linearisation techniques,mobile robots,robust control,variable structure systems,Poincare representation,differential geometric modelling,differential geometry,motion equations,partial feedback linearization,robust path following control,robust tracking controller,sliding mode techniques,straight line path following control,underactuated configuration variables,wheel-less planar snake robots
Control theory,Path following,Control engineering,Geometric design,Robot,Mathematics
Conference
Volume
Issue
ISSN
2014
1
1050-4729
Citations 
PageRank 
References 
2
0.40
7
Authors
4
Name
Order
Citations
PageRank
Ehsan Rezapour1212.29
Kristin Ytterstad Pettersen240242.59
Pål Liljebäck351.18
Jan Tommy Gravdahl4567.73