Finite-Time Sideslip Differentiator-Based LOS Guidance for Robust Path Following of Snake Robots  

作　　者：Yang Xiu Dongfang Li Miaomiao Zhang Hongbin Deng Rob Law Yun Huang Edmond Q.Wu Xin Xu 

机构地区：[1]the School of Mechatronical Engineering,Beijing Institute of Technology,Beijing 100081,China [2]the School of Electrical Engineering and Automation,Fuzhou University,Fuzhou 350108 [3]the Antai College of Economics&Management,Shanghai Jiao Tong University,Shanghai 200240,China [4]the Department of Automation,Shanghai Jiao Tong University,Shanghai 200240,China [5]the Asia-Pacific Academy of Economics and Management,University of Macao,Macao 999078,China [6]the Department of Decision Science,Macao University of Science and Technology,Macao 999078,China [7]the Department of Automation,Shanghai Jiao Tong University,and also with the Key Laboratory of System Control and Information Processing,Ministry of Education of China,Shanghai 200240,China [8]the College of Mechatronics and Automation,National University of Defense Technology,Changsha 410073,China [9]IEEE

出　　处：《IEEE/CAA Journal of Automatica Sinica》2023年第1期239-253,共15页自动化学报（英文版）

基　　金：supported in part by the National Natural Science Foundation of China(61825305,62171274,U1933125,U2241228,62273019);the Shanghai Science and Technology Major Project(2021SHZDZX);the National Natural Science Foundation of China through the Main Research Projecton Machine Behavior and Human-Machine Collaborated Decision Making Methodology(72192820);the Third Research Projecton Human Behavior in HumanMachine Collaboration(72192822);the China Postdoctoral Science Foundation(2022M710093)。

摘　　要：This 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 functionbased 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.

关 键 词：Line-of-sight(LOS) path following SIDESLIP snake robot 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]