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	Position Errors and Interference Prediction-Based Trajectory Tracking for Snake Robots
	Dongfang Li; Yilong Zhang; Ping Li; Rob Law; Zhengrong Xiang; Xin Xu; Limin Zhu; Edmond Q. Wu
刊名	IEEE/CAA Journal of Automatica Sinica
	2023
卷号	10期号:9页码:1810-1821
关键词	Anti-sideslip compensation snake robot trajectory tracking
ISSN号	2329-9266
DOI	10.1109/JAS.2023.123612
英文摘要	This work presents a trajectory tracking control method for snake robots. This method eliminates the influence of time-varying interferences on the body and reduces the offset error of a robot with a predetermined trajectory. The optimized line-of-sight (LOS) guidance strategy drives the robot’s steering angle to maintain its anti-sideslip ability by predicting position errors and interferences. Then, the predictions of system parameters and viscous friction coefficients can compensate for the joint torque control input. The compensation is adopted to enhance the compatibility of a robot within ever-changing environments. Simulation and experimental outcomes show that our work can decrease the fluctuation peak of the tracking errors, reduce adjustment time, and improve accuracy.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/52370]
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	Dongfang Li,Yilong Zhang,Ping Li,et al. Position Errors and Interference Prediction-Based Trajectory Tracking for Snake Robots[J]. IEEE/CAA Journal of Automatica Sinica,2023,10(9):1810-1821.
APA	Dongfang Li.,Yilong Zhang.,Ping Li.,Rob Law.,Zhengrong Xiang.,...&Edmond Q. Wu.(2023).Position Errors and Interference Prediction-Based Trajectory Tracking for Snake Robots.IEEE/CAA Journal of Automatica Sinica,10(9),1810-1821.
MLA	Dongfang Li,et al."Position Errors and Interference Prediction-Based Trajectory Tracking for Snake Robots".IEEE/CAA Journal of Automatica Sinica 10.9(2023):1810-1821.

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