Integral Line of Sight Guidance Scheme-Based Tracking Method for Snake Robots

Dongfang Li, Jiechao Zhou, Yanwei Huang, Dali Zhang, Ping Li, Aiguo Song

Abstract: This study investigates the trajectory tracking strategy of a snake robot with sideslip disturbance and unknown model parameters. To guide the robot to track the ideal trajectory faster and more accurately, an adaptive anti-sideslip strategy for a snake robot with the Integral Line-of-Sight (ILOS) function is reported. This technique eliminates direction sideslip and error fluctuation by using auxiliary integral terms and shortens the convergence time of state variables. Following the position and angle control objectives, the proposed controller considers the negative effects caused by the uncertainty and time variability of environmental parameters and compensates for the joint input using the adaptive update laws. The environment adaptability and tracking efficiency are improved. The stability analysis indicates that the state errors converge to the origin. The simulation and experiment data verifies the effectiveness and strength of the work. Note to Practitioners—This article was motivated by the problem of robust trajectory tracking for a snake robot in an environment with sideslip disturbance and unknown model parameters. In this environment, information of the motion space (for example, the coefficient of ground friction) cannot be obtained. In addition, there may be other system limitations (for example, motion sideslip limitations) and other operational limitations. These limitations are caused by the requirements of various common trajectory tracking objectives. These cases should also be considered in the control strategy. However, based on the existing methods of tracking control for snake robots, there is still a lack of a complete and reliable autonomous control scheme that can consider the above problems. On this basis, we present a reliable control strategy, which considers the above problems and the dynamic uncertainty of the model. In the future, we will extend the proposed method to the field of formation tracking control for multiple robots.