Port-controlled Hamiltonian based control of snake robots
Port-controlled Hamiltonian based control of snake robots
复制标题
基于端口控制哈密顿量的蛇形机器人控制
DOI：
10.1007/s10015-022-00741-2
复制
发表时间：
2022
影响因子：
0.9
通讯作者：
Azuma Shun-ichi
中科院分区：
文献类型：
--
作者：
Ariizumi Ryo;Imagawa Yasuhiro;Asai Toru;Azuma Shun-ichi
提出了一种新颖的蛇形机器人关节路径跟踪控制方法。所提出的方法适用于端口控制的哈密顿为基础的方法，这最初是提出了一个全驱动的无摩擦系统。本文将控制器推广到具有摩擦的欠驱动系统。结果表明，所提出的控制器，实现了关节的路径跟踪。通过仿真验证了控制器的有效性。仿真结果表明，该控制器对模型误差具有较强的鲁棒性。
This paper proposes a novel control method for path-following of joints of a snake robot. The proposed method applies the port-controlled Hamiltonian based approach, which has originally been proposed for a full-actuated friction-less system. This paper extends the controller for an under-actuated system with friction. It is proven that, by the proposed controller, the path-following of the joints is achieved. The validity of the controller is checked through simulations. Furthermore, simulation results suggest that the controller is robust to modeling errors.