CASIA OpenIR  > 学术期刊  > IEEE/CAA Journal of Automatica Sinica
Finite-Time Sideslip Differentiator-Based LOS Guidance for Robust Path Following of Snake Robots
Yang Xiu; Dongfang Li; Miaomiao Zhang; Hongbin Deng; Rob Law; Yun Huang; Edmond Q. Wu; Xin Xu
Source PublicationIEEE/CAA Journal of Automatica Sinica
ISSN2329-9266
2023
Volume10Issue:1Pages:239-253
AbstractThis paper presents a finite-time sideslip differentiator-based line-of-sight (LOS) guidance method for robust path following of snake robots. Firstly, finite-time stable sideslip differentiator and adaptive LOS guidance method are proposed to counteract sideslip drift caused by cross-track velocity. The proposed differentiator can accurately observe the cross-track error and sideslip angle for snake robots to avoid errors caused by calculating sideslip angle approximately. In our method, the designed piecewise auxiliary function guarantees the finite-time stability of position errors. Secondly, for the case of external disturbances and state constraints, a Barrier Lyapunov function-based backstepping adaptive path following controller is presented to improve the robot’s robustness. The uniform ultimate boundedness of the closed-loop system is proved by analyzing stability. Additionally, a gait frequency adjustment-based virtual velocity control input is derived to achieve the exponential convergence of the tangential velocity. At last, the availability and superiority of this work are shown through simulation and experiment results.
KeywordLine-of-sight (LOS) path following sideslip snake robot
DOI10.1109/JAS.2022.106052
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Cited Times:5[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/50739
Collection学术期刊_IEEE/CAA Journal of Automatica Sinica
Recommended Citation
GB/T 7714
Yang Xiu,Dongfang Li,Miaomiao Zhang,et al. Finite-Time Sideslip Differentiator-Based LOS Guidance for Robust Path Following of Snake Robots[J]. IEEE/CAA Journal of Automatica Sinica,2023,10(1):239-253.
APA Yang Xiu.,Dongfang Li.,Miaomiao Zhang.,Hongbin Deng.,Rob Law.,...&Xin Xu.(2023).Finite-Time Sideslip Differentiator-Based LOS Guidance for Robust Path Following of Snake Robots.IEEE/CAA Journal of Automatica Sinica,10(1),239-253.
MLA Yang Xiu,et al."Finite-Time Sideslip Differentiator-Based LOS Guidance for Robust Path Following of Snake Robots".IEEE/CAA Journal of Automatica Sinica 10.1(2023):239-253.
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