Robust Control of a Snake-like Robot with Friction Effects, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
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...
Cataloging briefRobust Control of a Snake-like Robot with Friction Effects, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
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...
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