Adaptive Path Following of Underactuated Snake Robot on Unknown and Varied Frictions Ground: Theory and Validations

Zero dynamics analysis and adaptive tracking control of underactuated multibody systems with flexible links

“…The proposed adaptive controllers ( 40) and ( 51) can result in the L 1 convergence of ξ 1 (t) − ξ 2 (t), which satisfies the desired convergence property of ξ 1 (t) − ξ 2 (t), needed for ensuring the internal stability (of the zero dynamics). 2 Remark 5: It is interesting to extend the obtained results to the nonlinear underactuated systems, such as underactuated snake robots (Wang, Yang, Shen, Shao, & Wang, 2018), networked systems (Wang, Wang, & Shen, 2019), ships (Huang, Wen, Wang, & Song, 2015), nonholonomic mobile robot (Huang, Wen, Wang, & Jiang, 2013, 2014, etc., where the analysis of the Lyapunov and partially input-to-state stabilities for the zero dynamics subsystem can be carried out using the similar way as in this paper based on the theories of the nonlinear control systems. 2…”

“…Underactuated mechanical systems have less control inputs than degrees of freedom, which have the advantages of lighter weight, cheaper cost, and less energy (Lai, Wang, Wu, & Cao, 2016). Underactuation is purposely introduced in some systems, such as aircraft, underwater vehicles, and humanoid robots, for which the control problem has attracted much attention (Huang, Wen, Wang, & Song, 2015;Jafari, Mathis, Mukherjee, Khalil, 2016;Lai, Zhang, Wang, & Wu, 2017;Wang, Yang, Shen, Shao, & Wang, 2018;Wu, Luo, Zeng, Li, & Zheng, 2016;Zhang, & Wu, 2015). However, most of the existing results attempt to stabilize only a subset of the system's degrees of freedom, which reduces the complexity of the control problem associated with underactuated mechanical systems (Pucci, Romano, & Nori, 2015).…”

An Adaptive Trajectory Tracking Controller of a Multi-joint Snake Robot Considering Non-holonomic Constraints

“…Moreover, 0  represents the direction forward and 0  represents the direction backwards. Since  directly affects the iteration speed of the robot's motion direction angle, the desired path of the robot can be achieved by adjusting the value of  [26].…”

Two-dimensional obstacle avoidance control algorithm for snake-like robot in water based on immersed boundary-lattice Boltzmann method and improved artificial potential field method

“…The snake-like robot has strong environmental adaptability by virtue of its multi-degree of freedom and redundancy (Yang et al, 2017). It can realize amphibious operation on land and water, and it has strong mobility and passability in narrow underwater space (Chaochao and Richardson, 2012; Wang et al, 2018). Therefore, an underwater obstacle avoidance control algorithm based on immersed boundary-lattice Boltzmann method (IB-LBM) and improved artificial potential field (APF) method is proposed, which is of great significance to the study of obstacle avoidance control of a snake-like robot in flow field (Sahu and Subudhi, 2017).…”