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Adaptive Robust Control for Planar Snake Robots

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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 demonstrates how 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-wall contact is discussed. The model has further been employed to demonstrate adaptive robust control design for such a motion.

Using numerous illustrations and tables, Adaptive Robust Control for Planar Snake Robots will interest researchers, practicing engineers and postgraduate students working in the field of robotics and control systems.

Availability
Inventory Code Barcode Call Number Location Status
1908001030EB0001636629.892 Muk aCentral Library (OPAC)Available
Detail Information
Series Title
Studies in Systems, Decision and Control
Call Number
629.892 Muk a
Publisher
Switzerland : Springer Cham.,
Collation
XVI, 168p.:Ill
Language
English
ISBN/ISSN
978-3-030-71460-4
Classification
629.892
Content Type
Ebook
Media Type
-
Carrier Type
online resource
Edition
1
Subject(s)
Robust control
Specific Detail Info
-
Statement of Responsibility
Other version/related

No other version available

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