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Optimal control of an assisted passive snake-like robot using feedback linearization

Mohammadi, S ; Sharif University of Technology | 2008

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  1. Type of Document: Article
  2. DOI: 10.1115/DETC2007-34988
  3. Publisher: 2008
  4. Abstract:
  5. In this paper we follow two approaches in optimal nonlinear control of a snake-like robot. After deriving the dynamic equations of motion using Gibbs-Appell method, reducing these equations, and some assumptions, feedback-linearization method was used to linearize the nonlinear system. The obtained controller is used in simulations to control robot to track a desired line, with minimum required torques. Two goals are desired. First the robot's head is expected to track a distinct line with a given speed. And next, tracking the serpenoid curve is desired. The simulation results prove the controller efficiency. The robustness of the designed controller is shown by comparing the torques with the required torques using a PD controller. Additionally, although we had model mismatches and unmodeled dynamics in controller part, we achieved the desired goals. Copyright © 2007 by ASME
  6. Keywords:
  7. Dynamic equations of motion ; International designs ; linearization methods ; Non linear control ; Optimal control (OC) ; Proportional derivative (PD) controllers ; Serpenoid curve ; simulation results ; Snake like robot (Snakebot) ; Technical conferences ; Unmodeled dynamics ; Architectural design ; Automation ; Computer control systems ; Computer networks ; Computers ; Control theory ; Dynamical systems ; Dynamics ; Engineering ; Equations of motion ; Information technology ; Linear equations ; Linearization ; Machine design ; Mathematical morphology ; Mechanics ; Mechanisms ; Nonlinear equations ; Nonlinear programming ; Nonlinear systems ; Numerical methods ; Palladium ; Robotics ; Robots ; Robust control ; Robustness (control systems) ; Technology ; Feedback linearization
  8. Source: 31st Mechanisms and Robotics Conference, presented at - 2007 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2007, Las Vegas, NV, 4 September 2007 through 7 September 2007 ; Volume 8 PART B , 2008 , Pages 867-876 ; 0791848027 (ISBN); 9780791848029 (ISBN); 0791848094 (ISBN); 9780791848098 (ISBN)
  9. URL: https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings-abstract/IDETC-CIE2007/48094/867/361794