Non-holonomic constraints-based adaptive trajectory tracking controller for a multi-joint snake robot

doi:10.1177/16878132241303002

	Non-holonomic constraints-based adaptive trajectory tracking controller for a multi-joint snake robot
	Hao, Shuang 1; Chen, Jiyao 2; He, Yupeng 3; Wang, Zheng 4; Li, Dongfang 5
	2024-12
发表期刊	ADVANCES IN MECHANICAL ENGINEERING
ISSN	1687-8132
卷号	16 期号:12
摘要	The multi-joint snake robot is poised to become a crucial asset for investigation, surveillance, and attack in national defense and military applications. This paper addresses the trajectory tracking challenge of a multi-joint snake robot characterized by high redundancy and multiple degrees of freedom in the plane. We propose an adaptive trajectory tracking controller that accounts for non-holonomic constraints. This controller estimates unknown environmental parameters, effectively mitigating the negative impacts of uncertain and time-varying conditions during robot movement, thereby ensuring stability. A suitable Lyapunov function is identified to confirm the controller's stability. The trajectory tracking performance of the robot is thoroughly analyzed through simulations and experiments, demonstrating the effectiveness of the proposed adaptive controller.
关键词	Multi-joint snake robot adaptive control trajectory tracking estimation
DOI	10.1177/16878132241303002
收录类别	SCIE
语种	英语
WOS研究方向	Thermodynamics ; Engineering
WOS类目	Thermodynamics ; Engineering, Mechanical
WOS记录号	WOS:001370111500001
出版者	SAGE PUBLICATIONS LTD
原始文献类型	Article
EISSN	1687-8140
文献类型	期刊论文
条目标识符	http://ir.library.ouchn.edu.cn/handle/39V7QQFX/173657
专题	国家开放大学上海分部
通讯作者	Li, Dongfang
作者单位	1.Shanghai Open Univ, Sch Econ & Management, Shanghai, Peoples R China; 2.Ningdong Power Supply Co State Grid Ningxia Elect, Yinchuan, Ningxia, Peoples R China; 3.State Grid Ningxia Elect Power Co Ltd, Yinchuan, Ningxia, Peoples R China; 4.State Grid Ningxia Elect Power Co Ltd, Ecotech Res Inst, Yinchuan, Ningxia, Peoples R China; 5.Fuzhou Univ, Sch Elect Engn & Automat, Xueyuan Rd 2, Fuzhou 350108, Fujian, Peoples R China
第一作者单位	国家开放大学上海分部
第一作者的第一单位	国家开放大学上海分部
推荐引用方式 GB/T 7714	Hao, Shuang,Chen, Jiyao,He, Yupeng,et al. Non-holonomic constraints-based adaptive trajectory tracking controller for a multi-joint snake robot[J]. ADVANCES IN MECHANICAL ENGINEERING,2024,16(12).
APA	Hao, Shuang,Chen, Jiyao,He, Yupeng,Wang, Zheng,&Li, Dongfang.(2024).Non-holonomic constraints-based adaptive trajectory tracking controller for a multi-joint snake robot.ADVANCES IN MECHANICAL ENGINEERING,16(12).
MLA	Hao, Shuang,et al."Non-holonomic constraints-based adaptive trajectory tracking controller for a multi-joint snake robot".ADVANCES IN MECHANICAL ENGINEERING 16.12(2024).