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Virtual holonomic constraint based direction following control of planar snake robots described by a simplified model

机译:基于简化模型描述的基于虚拟完整约束的平面蛇形机器人方向跟踪控制

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This paper considers direction following control of planar snake robots for which the equations of motion are described based on a simplified model. In particular, we aim to regulate the orientation and the forward velocity of the robot to a constant vector, while guaranteeing the boundedness of the states of the controlled system. To this end, we first stabilize a constraint manifold for the fully-actuated body shape variables of the robot. The definition of the constraint manifold is inspired by the well-known reference joint angle trajectories which induce lateral undulatory motion for snake robots. Subsequently, we reduce the dynamics of the system to the invariant constraint manifold. Furthermore, we design two dynamic compensators which control the orientation and velocity of the robot on this manifold. Using numerical analysis and a formal stability proof, we show that the solutions of the dynamic compensators remain bounded. Numerical simulations are presented to validate the theoretical design.
机译:本文考虑了平面蛇形机器人的方向跟随控制,并基于简化模型描述了运动方程。特别是,我们旨在将机器人的方向和前进速度调整为恒定向量,同时保证受控系统状态的有界性。为此,我们首先为机器人的完全致动的身体形状变量稳定一个约束流形。约束流形的定义受到众所周知的参考关节角度轨迹的启发,参考角度轨迹会引起蛇形机器人的横向波动运动。随后,我们将系统的动力学降为不变约束流形。此外,我们设计了两个动态补偿器,用于控制该歧管上机器人的方向和速度。使用数值分析和形式上的稳定性证明,我们证明了动态补偿器的解仍然是有界的。数值模拟被提出来验证理论设计。

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