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

doi:10.1109/JAS.2022.106052

CORC > 自动化研究所 > 中国科学院自动化研究所 > 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
刊名	IEEE/CAA Journal of Automatica Sinica
	2023
卷号	10 期号:1 页码:239-253
关键词	Line-of-sight (LOS) path following sideslip snake robot
ISSN号	2329-9266
DOI	10.1109/JAS.2022.106052
英文摘要	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 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.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/50739]
专题	自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 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.