Robustness Analysis on Joint Path-following Control of a Snake-like Robot Using Port-Hamiltonian Model

Authors

Atsuhiro Kondo, Ryo Ariizumi, Toru Asai, Shun-ichi Azuma

Abstract

This paper discusses a path-following control of joint angles of a planar snake robot based on the port-Hamiltonian formulation. An existing controller is extended to solve the problem of the diﬃculty in specifying the moving direction. Furthermore, the eﬀect of a bounded error in the input is analyzed, which provides a criterion to determine the controller parameters. The validity of the controller and the error analysis is tested via numerical simulations.

Citation

Journal: Transactions of the Institute of Systems, Control and Information Engineers
Year: 2024
Volume: 37
Issue: 2
Pages: 35–44
Publisher: The Institute of Systems, Control and Information Engineers
DOI: 10.5687/iscie.37.35

BibTeX

@article{Kondo_2024,
  title={{Robustness Analysis on Joint Path-following Control of a Snake-like Robot Using Port-Hamiltonian Model}},
  volume={37},
  ISSN={2185-811X},
  DOI={10.5687/iscie.37.35},
  number={2},
  journal={Transactions of the Institute of Systems, Control and Information Engineers},
  publisher={The Institute of Systems, Control and Information Engineers},
  author={Kondo, Atsuhiro and Ariizumi, Ryo and Asai, Toru and Azuma, Shun-ichi},
  year={2024},
  pages={35--44}
}

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References

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