Error Constrained-Formation Path-Following Method With Disturbance Elimination for Multisnake Robots

This article reports a novel path-following method based on error constraints to fulfill formation control with the anti-disturbance for multisnake robots. A synchronized line-of-sight guidance rule and a high-coupled dynamic frequency compensator are designed to revise the movement speed of each robot, ensuring position consistency among formation members. The equivalent principle of the barrier function restricts the state errors within a set range, eliminating the singularity of virtual variables and enhancing the steady-state performance of path following. Moreover, this article predicts the model uncertainty and external disturbances to precompensate for the joint offset and torque input of the robot. The method further improves the convergence rates and robustness of the following errors. Barrier Lyapunov theory proves the uniform ultimate boundedness of the proposed method. Simulation and experimental data indicate that the control strategy reduces oscillations of errors before convergence and achieves fast and smooth formation following effect.