Parameter Estimation and Anti-Sideslip Line-of-Sight Method-Based Adaptive Path-Following Controller for a Multijoint Snake Robot

摘要

This work reports an adaptive path-following controller for a multijoint snake robot (MSR) to improve the adaptability of the robot to the environment. The new strategy estimates the time-varying parameters of the system and the external interference to adjust the motion state of the robot in real time. Estimations are used to compensate for the joint torque of an MSR, thus reducing the fluctuation peak of path-following errors. In addition, this work designs an anti-sideslip line-of-sight (LOS) guidance strategy to avoid the deviation of the direction angle. The method can improve the tracking accuracy of an MSR, and the position errors enable the system to achieve uniformly ultimate boundedness (UUB). The angle errors converge to the origin to achieve stability. Experimental results demonstrate that the novel method can accurately estimate the time-dependent parameters, sideslip, and interference, raise the convergent speed of errors, and reduce the fluctuation peak.