Port-controlled Hamiltonian based control of snake robots

被引：0
|
作者：
Ryo Ariizumi
Yasuhiro Imagawa
Toru Asai
Shun-ichi Azuma
机构：
[1] Nagoya University,Department of Mechanical Systems Engineering, Graduate School of Engineering
来源：
Artificial Life and Robotics | 2022年 / 27卷
关键词：
Path-following; Port-controlled Hamiltonian; Snake robot; Robust control;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
This paper proposes a novel control method for path-following of joints of a snake robot. The proposed method applies the port-controlled Hamiltonian based approach, which has originally been proposed for a full-actuated friction-less system. This paper extends the controller for an under-actuated system with friction. It is proven that, by the proposed controller, the path-following of the joints is achieved. The validity of the controller is checked through simulations. Furthermore, simulation results suggest that the controller is robust to modeling errors.
引用
收藏
页码：255 / 263
页数：8
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