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

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 analy...

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Veröffentlicht in:	Shisutemu Seigyo Jouhou Gakkai rombunshi Control and Information Engineers, 2024/02/15, Vol.37(2), pp.35-44
Hauptverfasser:	Kondo, Atsuhiro, Ariizumi, Ryo, Asai, Toru, Azuma, Shun-ichi
Format:	Artikel
Sprache:	eng ; jpn
Schlagworte:	Controllers Error analysis path-following Port-Hamiltonian systems Robot control robustness snake-like robot
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container_title	Shisutemu Seigyo Jouhou Gakkai rombunshi
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creator	Kondo, Atsuhiro Ariizumi, Ryo Asai, Toru Azuma, Shun-ichi
description	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.
doi_str_mv	10.5687/iscie.37.35
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source	J-STAGE Free; Elektronische Zeitschriftenbibliothek - Frei zugängliche E-Journals
subjects	Controllers Error analysis path-following Port-Hamiltonian systems Robot control robustness snake-like robot
title	Robustness Analysis on Joint Path-following Control of a Snake-like Robot Using Port-Hamiltonian Model
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