Virtual holonomic constraints based super twisting sliding mode control for motion control of planar snake robot in the uncertain underwater environment

摘要

In this article, the snake robot having nine links with eight joints is considered for serpentine motion in the underwater environment. The movement of a snake robot occurs due to nonlinear drag forces and fluidic torque in underwater conditions. The uncertainties in drag forces and fluidic torque are considered to track the head angle and tangential velocity in this work. The virtual holonomic constraints are formulated to track all the joints by designing a controller for single joint. The parameters of gait pattern are obtained using the sliding surface. The sliding surface is formulated for head link angle and velocity tracking. Super twisting sliding mode control approach is proposed to deal with uncertainties, and results are compared with sliding mode control and adaptive sliding mode control. The robustness of controller is verified by inputting measurement noise. The significant improvement has been observed in chattering indicator and control effort by using the proposed super twisting sliding mode control. The investigation of this research article focuses on how to get almost chattering free operation in underwater uncertain environmental conditions with minimum control effort.