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Research Papers

A Double-Layered Artificial Delay-Based Approach for Maneuvering Control of Planar Snake Robots

[+] Author and Article Information
Joyjit Mukherjee

Department of Electrical Engineering,
Indian Institute of Technology Delhi,
New Delhi 110016, India
e-mail: joyjit.mukherjee@ee.iitd.ac.in

Spandan Roy

Department of Electrical Engineering,
Indian Institute of Technology Delhi,
New Delhi 110016, India
e-mail: spandan.roy@ee.iitd.ac.in

Indra Narayan Kar

Department of Electrical Engineering,
Indian Institute of Technology Delhi,
New Delhi 110016, India
e-mail: ink@ee.iitd.ac.in

Sudipto Mukherjee

Department of Mechanical Engineering,
Indian Institute of Technology Delhi,
New Delhi 110016, India
e-mail: sudipto@mech.iitd.ac.in

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received July 12, 2018; final manuscript received November 13, 2018; published online December 19, 2018. Assoc. Editor: Xuebo Zhang.

J. Dyn. Sys., Meas., Control 141(4), 041012 (Dec 19, 2018) (10 pages) Paper No: DS-18-1323; doi: 10.1115/1.4042033 History: Received July 12, 2018; Revised November 13, 2018

Uncertainty and disturbance are common in a planar snake robot model due to its structural complexity and variation in system parameters. To achieve efficient head angle and velocity tracking with least computational complexity and unknown uncertainty bounds, a time-delayed control (TDC) scheme has been presented in this paper. A Serpenoid gait function is being tracked by the joint angles utilizing virtual holonomic constraints (VHCs) method. The first layer of TDC has been proposed for stabilizing the VHC dynamics to the origin. Once the VHCs are satisfied, the system is said to be on the constraint manifold. The second layer of TDC has been applied to an output system defined over the reduced order dynamics on the constrained manifold. To establish the robustness of the control approach through simulation, uncertainty in the friction coefficients is considered to be time-varying emulating change in the ground conditions. Simulation results and Lyapunov stability analysis affirm the uniformly ultimately bounded stability of the robot employing the proposed approach.

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References

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Figures

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Fig. 2

Block diagram of control law

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Fig. 1

Schematic diagram of a snake robot

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Fig. 12

Estimation error of TDE

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Fig. 3

Time-varying friction coefficient

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Fig. 4

Global trajectory of the snake robot

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Fig. 5

Tangential velocity error

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Fig. 6

Global head-angle error

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Fig. 7

Frequency of the gait function

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Fig. 8

Offset of the gait function

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Fig. 11

Norm of the control effort

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Fig. 13

Time lapse (s) motion of the snake robot

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