Parameter Estimation and Anti-Sideslip Line-of-Sight Method-Based Adaptive Path-Following Controller for a Multijoint Snake Robot

This work reports an adaptive path-following controller for a multijoint snake robot (MSR) to improve the adaptability of the robot to the environment. The new strategy estimates the time-varying parameters of the system and the external interference to adjust the motion state of the robot in real time. Estimations are used to compensate for the joint torque of an MSR, thus reducing the fluctuation peak of path-following errors. In addition, this work designs an anti-sideslip line-of-sight (LOS) guidance strategy to avoid the deviation of the direction angle. The method can improve the tracking accuracy of an MSR, and the position errors enable the system to achieve uniformly ultimate boundedness (UUB). The angle errors converge to the origin to achieve stability. Experimental results demonstrate that the novel method can accurately estimate the time-dependent parameters, sideslip, and interference, raise the convergent speed of errors, and reduce the fluctuation peak.

Automated summary

This work presents an adaptive path-following controller for a multijoint snake robot (MSR) to enhance its adaptability to the environment. The proposed strategy estimates the time-varying parameters and external interference to dynamically adjust the robot's motion state. Estimations are used to compensate for joint torque, reducing path-following errors. Additionally, an anti-sideslip line-of-sight (LOS) guidance strategy is designed to prevent direction angle deviation, improving tracking accuracy and achieving stability.