Differential geometric modelling and robust path following control of snake robots using sliding mode techniques
Differential geometric modelling and robust path following control of snake robots using sliding mode techniques
复制标题
使用滑模技术的蛇形机器人的微分几何建模和鲁棒路径跟踪控制
DOI：
10.1109/icra.2014.6907521
复制
发表时间：
2014
期刊：
影响因子：
--
通讯作者：
J. Gravdahl
中科院分区：
文献类型：
--
作者：
Ehsan Rezapour;K. Pettersen;Pål Liljebäck;J. Gravdahl
利用滑模方法研究了无轮平面蛇形机器人的直线路径跟踪控制问题。我们首先利用微分几何技术推导出机器人运动方程的庞加莱表达式。此外，我们使用部分反馈线性化来线性化系统动力学的直接驱动部分。随后，我们分两步给出了鲁棒路径跟踪控制问题的解析解。在第一步中，我们使用滑模技术设计了机器人关节的鲁棒跟踪控制器，以跟踪所需的步态模式。在第二步中，我们为机器人的欠驱动构形变量稳定一个适当定义的滑动流形，从而保证机器人收敛到期望的直线路径。文中给出了仿真结果，验证了理论结果。
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.