Téléchargez le livre : Adaptive Robust Control for Planar Snake Robots

Adaptive Robust Control for Planar Snake Robots

de

, ,

Éditeur :

Springer


Collection :

Studies in Systems, Decision and Control

Paru le : 2021-05-11

eBook Téléchargement , DRM LCP 🛈 DRM Adobe 🛈
Lecture en ligne (streaming)
126,59 €
Téléchargement immédiat
Dès validation de votre commande
Image Louise Reader présentation

Louise Reader

Lisez ce titre sur l'application Louise Reader.

badge apple Application Louise Reader
badge Android Application Louise Reader
Description

This book shows how a conventional multi-layered approach can be used to control a snake robot on a desired path while moving on a flat surface. To achieve robustness to unknown variations in surface conditions, it explores various adaptive robust control methods.
The authors propose a sliding-mode control approach designed to achieve robust maneuvering for bounded uncertainty with a known upper bound. The control is modified by addition of an adaptation law to alleviate the overestimation problem of the switching gain as well as to circumvent the requirement for knowledge regarding the bounds of uncertainty. The book works toward non-conservativeness, achieving efficient tracking in the presence of slowly varying uncertainties with a specially designed framework for time-delayed control. It shows readers how to extract superior performance from their snake robots with an approach that allows robustness toward bounded time-delayed estimation errors. The book also demonstrateshow the multi-layered control framework can be simplified by employing differential flatness for such a system. Finally, the mathematical model of a snake robot moving inside a uniform channel using only side-wall contact is discussed. The model has further been employed to demonstrate adaptive robust control design for such a motion.


Using numerous illustrations and tables, Adaptive Robust Control for Planar Snake Robots will interest researchers, practicing engineers and postgraduate students working in the field of robotics and control systems.
Pages
168 pages
Collection
Studies in Systems, Decision and Control
Parution
2021-05-11
Marque
Springer
EAN papier
9783030714598
EAN PDF
9783030714604
Informations sur l'ebook
Nombre pages copiables
1
Nombre pages imprimables
16
Taille du fichier
8151 Ko
Prix
126,59 €
EAN EPUB
9783030714604
Informations sur l'ebook
Nombre pages copiables
1
Nombre pages imprimables
16
Taille du fichier
29338 Ko
Prix
126,59 €

Suggestions personnalisées