This paper presents a finite-time sideslip differentiator-based line-of-sight(LOS)guidance method for robust path following of snake robots.Firstly,finite-time stable sideslip differentiator and adaptive LOS guidance ...This paper presents a finite-time sideslip differentiator-based line-of-sight(LOS)guidance method for robust path following of snake robots.Firstly,finite-time stable sideslip differentiator and adaptive LOS guidance method are proposed to counteract sideslip drift caused by cross-track velocity.The proposed differentiator can accurately observe the cross-track error and sideslip angle for snake robots to avoid errors caused by calculating sideslip angle approximately.In our method,the designed piecewise auxiliary function guarantees the finite-time stability of position errors.Secondly,for the case of external disturbances and state constraints,a Barrier Lyapunov functionbased backstepping adaptive path following controller is presented to improve the robot’s robustness.The uniform ultimate boundedness of the closed-loop system is proved by analyzing stability.Additionally,a gait frequency adjustment-based virtual velocity control input is derived to achieve the exponential convergence of the tangential velocity.At last,the availability and superiority of this work are shown through simulation and experiment results.展开更多
This work presents a trajectory tracking control method for snake robots.This method eliminates the influence of time-varying interferences on the body and reduces the offset error of a robot with a predetermined traj...This work presents a trajectory tracking control method for snake robots.This method eliminates the influence of time-varying interferences on the body and reduces the offset error of a robot with a predetermined trajectory.The optimized line-of-sight(LOS)guidance strategy drives the robot’s steering angle to maintain its anti-sideslip ability by predicting position errors and interferences.Then,the predictions of system parameters and viscous friction coefficients can compensate for the joint torque control input.The compensation is adopted to enhance the compatibility of a robot within ever-changing environments.Simulation and experimental outcomes show that our work can decrease the fluctuation peak of the tracking errors,reduce adjustment time,and improve accuracy.展开更多
Intelligent robotic systems have gradually penetrated into the fields of social services and military reconnaissance with the rapid economic development.Snake robots,as multi-redundant bionic robots,play an indispensa...Intelligent robotic systems have gradually penetrated into the fields of social services and military reconnaissance with the rapid economic development.Snake robots,as multi-redundant bionic robots,play an indispensable and important role in public life and military needs.1 These robots have been widely favored and highly regarded by the academia and industry because of 1)their small size and flexibility,thereby easily entering small spaces for work,2)their ability to carry a variety of equipment for disaster rescue and military reconnaissance,and 3)their variety of movement modes,which can adapt to various complex terrain environments.展开更多
基金supported in part by the National Natural Science Foundation of China(61825305,62171274,U1933125,U2241228,62273019)the Shanghai Science and Technology Major Project(2021SHZDZX)+2 种基金the National Natural Science Foundation of China through the Main Research Projecton Machine Behavior and Human-Machine Collaborated Decision Making Methodology(72192820)the Third Research Projecton Human Behavior in HumanMachine Collaboration(72192822)the China Postdoctoral Science Foundation(2022M710093)。
文摘This paper presents a finite-time sideslip differentiator-based line-of-sight(LOS)guidance method for robust path following of snake robots.Firstly,finite-time stable sideslip differentiator and adaptive LOS guidance method are proposed to counteract sideslip drift caused by cross-track velocity.The proposed differentiator can accurately observe the cross-track error and sideslip angle for snake robots to avoid errors caused by calculating sideslip angle approximately.In our method,the designed piecewise auxiliary function guarantees the finite-time stability of position errors.Secondly,for the case of external disturbances and state constraints,a Barrier Lyapunov functionbased backstepping adaptive path following controller is presented to improve the robot’s robustness.The uniform ultimate boundedness of the closed-loop system is proved by analyzing stability.Additionally,a gait frequency adjustment-based virtual velocity control input is derived to achieve the exponential convergence of the tangential velocity.At last,the availability and superiority of this work are shown through simulation and experiment results.
基金supported in part by the National Natural Science Foundation of China(U2241228,62273019,61825305,U1933125,72192820,72192824,62171274)the China Postdoctoral Science Foundation(2022M710093)the Open Project Program of the Key Laboratory for Agricultural Machinery Intelligent Control and Manufacturing of Fujian Education Institutions(AMICM202102)。
文摘This work presents a trajectory tracking control method for snake robots.This method eliminates the influence of time-varying interferences on the body and reduces the offset error of a robot with a predetermined trajectory.The optimized line-of-sight(LOS)guidance strategy drives the robot’s steering angle to maintain its anti-sideslip ability by predicting position errors and interferences.Then,the predictions of system parameters and viscous friction coefficients can compensate for the joint torque control input.The compensation is adopted to enhance the compatibility of a robot within ever-changing environments.Simulation and experimental outcomes show that our work can decrease the fluctuation peak of the tracking errors,reduce adjustment time,and improve accuracy.
基金supported by the National Natural Science Foundation of China(grant nos.62171274,U1933125,and 62273019)and the China Postdoctoral Science Foundation(grant no.2022M710093),and this project was partly supported by a research grant funded by the University of Macao.
文摘Intelligent robotic systems have gradually penetrated into the fields of social services and military reconnaissance with the rapid economic development.Snake robots,as multi-redundant bionic robots,play an indispensable and important role in public life and military needs.1 These robots have been widely favored and highly regarded by the academia and industry because of 1)their small size and flexibility,thereby easily entering small spaces for work,2)their ability to carry a variety of equipment for disaster rescue and military reconnaissance,and 3)their variety of movement modes,which can adapt to various complex terrain environments.
