Position Errors and Interference Prediction-Based Trajectory Tracking for Snake Robots
文献类型：期刊论文
| 作者 | Dongfang Li; Yilong Zhang; Ping Li; Rob Law; Zhengrong Xiang; Xin Xu; Limin Zhu ; Edmond Q. Wu
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| 刊名 | IEEE/CAA Journal of Automatica Sinica
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| 出版日期 | 2023 |
| 卷号 | 10期号:9页码:1810-1821 |
| 关键词 | Anti-sideslip compensation snake robot trajectory tracking |
| ISSN号 | 2329-9266 |
| DOI | 10.1109/JAS.2023.123612 |
| 英文摘要 | This work presents a trajectory tracking control method for snake robots. This method eliminates the influence of time-varying interferences on the body and reduces the offset error of a robot with a predetermined trajectory. The optimized line-of-sight (LOS) guidance strategy drives the robot’s steering angle to maintain its anti-sideslip ability by predicting position errors and interferences. Then, the predictions of system parameters and viscous friction coefficients can compensate for the joint torque control input. The compensation is adopted to enhance the compatibility of a robot within ever-changing environments. Simulation and experimental outcomes show that our work can decrease the fluctuation peak of the tracking errors, reduce adjustment time, and improve accuracy. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/52370]  |
| 专题 | 自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica |
| 推荐引用方式 GB/T 7714 | Dongfang Li,Yilong Zhang,Ping Li,et al. Position Errors and Interference Prediction-Based Trajectory Tracking for Snake Robots[J]. IEEE/CAA Journal of Automatica Sinica,2023,10(9):1810-1821. |
| APA | Dongfang Li.,Yilong Zhang.,Ping Li.,Rob Law.,Zhengrong Xiang.,...&Edmond Q. Wu.(2023).Position Errors and Interference Prediction-Based Trajectory Tracking for Snake Robots.IEEE/CAA Journal of Automatica Sinica,10(9),1810-1821. |
| MLA | Dongfang Li,et al."Position Errors and Interference Prediction-Based Trajectory Tracking for Snake Robots".IEEE/CAA Journal of Automatica Sinica 10.9(2023):1810-1821. |
入库方式： OAI收割
来源：自动化研究所
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