Robust Control of a Snake-like Robot with Friction Effects

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Haghshenas Jaryani, Mahdi | 2009

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 39498 (08)
University: Sharif University of Technology
Department: Mechanical Engineering
Advisor(s): Vossoughi, Gholamreza
Abstract:
In this thesis, modeling and robust sliding mode control of a snake-like robot with holonomic constraints in tracking of desired paths such as serpenoidal motion is addressed. By considering more real conditions and holonomic constraints, the kinematic and dynamic equations of a semi active robot are obtained using Kane's method. In the next step, based on the obtained results, diverse control theory for getting ability of tracking different paths in environment with different frictions are investigated. Robust control theory is chose to design a controller that has ability of adaption robot’s motion in different environments. For this reason, Sliding Mode Control that has many applications in nonlinear control systems, as a robust controller, is used. Controller designing carries out in two separate sections, the first section contains a robust controller for joint space of a snake-like robot and the second section, robust control of Cartesian space motion of it on desired paths such as straight line, circle, and ellipsoid. The simulation results demonstrate that the snake-like robot realizes the trajectory tracking with desired robustness to the parameter uncertainties
Keywords:
Robust Control ; Kane Dynamics ; Friction ; Snake-Like Robot ; Semiactive Control ; Holonomic Constraint

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