Adaptive sliding mode control for head-angle and velocity tracking of planar snake robot

Abstract

A planar snake robot model is prone to uncertainties and disturbances due to its structural complexity and variation in system parameters. An Adaptive Sliding Mode Control (ASMC) has been presented in this work to achieve efficient head-angle and velocity tracking utilizing least average control input without the knowledge of bound on the uncertainties. A Virtual Holonomic Constraints (VHCs) approach has been taken to track the joint angles to a desired gait function. The ASMC has been applied to the reduced system on the constraint manifold. The robustness of the control scheme has been verified against time-varying uncertainty during simulation. Simulation results and Lyapunov stability analysis is used to show finite-time stability of the proposed approach.