Adaptive Robust Control for Planar Snake Robots

Language: English

Published by Springer, Springer Mai 2021, 2021

3030714594 / 9783030714598

Series: Book 321 of 378 - Studies in Systems, Decision and Control

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This item is printed on demand - Print on Demand Titel. Neuware -This book shows how a conventional multi-layered approach can be used to control a snake robot on a desired path while moving on a flat surface. To achieve robustness to unknown variations in surface conditions, it explores various adaptive robust control methods.The authors propose a sliding-mode control approach designed to achieve robust maneuvering for bounded uncertainty with a known upper bound. The control is modified by addition of an adaptation law to alleviate the overestimation problem of the switching gain as well as to circumvent the requirement for knowledge regarding the bounds of uncertainty. The book works toward non-conservativeness, achieving efficient tracking in the presence of slowly varying uncertainties with a specially designed framework for time-delayed control. It shows readers how to extract superior performance from their snake robots with an approach that allows robustness toward bounded time-delayed estimation errors. The book also demonstrateshow the multi-layered control framework can be simplified by employing differential flatness for such a system. Finally, the mathematical model of a snake robot moving inside a uniform channel using only side-wall contact is discussed. The model has further been employed to demonstrate adaptive robust control design for such a motion.Using numerous illustrations and tables, Adaptive Robust Control for Planar Snake Robots will interest researchers, practicing engineers and postgraduate students working in the field of robotics and control systems.Springer-Verlag KG, Sachsenplatz 4-6, 1201 Wien 184 pp. Englisch.

Seller Inventory # 9783030714598

Title
Adaptive Robust Control for Planar Snake Robots
Author
Joyjit Mukherjee
Publisher
Springer, Springer Mai 2021
Publication year
2021
Condition
Neu
Binding
Buch
Language
English
ISBN 10
3030714594
ISBN 13
9783030714598
Item weight
448 grams
Dimensions
241x160x16 mm
Series
Book 321 of 378: Studies in Systems, Decision and Control

buchversandmimpf2000

Emtmannsberg, BAYE, Germany

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AbeBooks seller since January 23, 2017

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