Motion control of a caterpillar robot using optimized feedback linearization and sliding mode controllers

Caterpillar robots are widely used in various industrial applications, including pipe inspection, access to dangerous locations in factories, passing through narrow holes during natural disasters, and even in processes such as endoscopy and colonoscopy. In this paper, two control schemes, namely opt...

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Veröffentlicht in:International journal of dynamics and control 2021-09, Vol.9 (3), p.1107-1116
Hauptverfasser: Amiri, Niloufar, Fakhari, Vahid, Sepahvand, Shayan
Format: Artikel
Sprache:eng
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