A Fuzzy ESO-based Joint Angle Control Design of Snake Robots

摘要

The joint angle control of snake robot is an important component for the path tracking control. However, existing controllers can not realize the accurate control of the joint angle of snake robots since they rely on model information and can not adapt to the uncertain environment. Here, aiming at the above problems, a fuzzy extended state observer (FESO)-based joint angle controller for snake robots is designed. The total system disturbance including model uncertainty and external disturbance is estimated by FESO and then rejected by adding a corresponding part to the control law. Moreover, the peaking phenomenon caused by initial estimation errors can be suppressed in the proposed FESO. Finally, the effectiveness of the designed joint angle controller is verified by simulations.