| 期刊全称 | Adaptive Robust Control for Planar Snake Robots | | 影响因子2023 | Joyjit Mukherjee,Indra Narayan Kar,Sudipto Mukherj | | 视频video | | | 发行地址 | Details the mechanics of a robotic snake with uncertain ground conditions.Explores adaptive sliding mode-based and time-delayed control for planar snake robots.Proposes a differential flatness-based a | | 学科分类 | Studies in Systems, Decision and Control | | 图书封面 |  | | 影响因子 | .This book shows how a conventional multi-layered approach can be used to control a snake robot on a desired path while moving on a flat surface. To achieve robustness to unknown variations in surface conditions, it explores various adaptive robust control methods..The authors propose a sliding-mode control approach designed to achieve robust maneuvering for bounded uncertainty with a known upper bound. The control is modified by addition of an adaptation law to alleviate the overestimation problem of the switching gain as well as to circumvent the requirement for knowledge regarding the bounds of uncertainty. The book works toward non-conservativeness, achieving efficient tracking in the presence of slowly varying uncertainties with a specially designed framework for time-delayed control. It shows readers how to extract superior performance from their snake robots with an approach that allows robustness toward bounded time-delayed estimation errors. The book also demonstrateshow the multi-layered control framework can be simplified by employing differential flatness for such a system. Finally, the mathematical model of a snake robot moving inside a uniform channel using only side- | | Pindex | Book 2021 |
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发表于 2025-3-21 17:44:22
