In this paper we follow two approaches in optimal nonlinear control of a snake-like robot. After deriving the dynamic equations of motion using Gibbs-Appell method, reducing these equations, and some assumptions, feedbacklinearization method was used to linearize the nonlinear system. The obtained controller is used in simulations to control robot to track a desired line, with minimum required torques. Two goals are desired. First the robot’s head is expected to track a distinct line with a given speed. And next, tracking the serpenoid curve is desired. The simulation results prove the controller efficiency. The robustness of the designed controller is shown by comparing the torques with the required torques using a PD controller. Additionally, although we had model mismatches and unmodeled dynamics in controller part, we achieved the desired goals.
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ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
September 4–7, 2007
Las Vegas, Nevada, USA
Conference Sponsors:
- Design Engineering Division and Computers and Information in Engineering Division
ISBN:
0-7918-4809-4
PROCEEDINGS PAPER
Optimal Control of an Assisted Passive Snake-Like Robot Using Feedback Linearization
Saman Mohammadi,
Saman Mohammadi
Sharif University of Technology, Tehran, Iran
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Zoya Heidari,
Zoya Heidari
Sharif University of Technology, Tehran, Iran
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Hojjat Pendar,
Hojjat Pendar
Sharif University of Technology, Tehran, Iran
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Aria Alasty,
Aria Alasty
Sharif University of Technology, Tehran, Iran
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Gholamreza Vossoughi
Gholamreza Vossoughi
Sharif University of Technology, Tehran, Iran
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Saman Mohammadi
Sharif University of Technology, Tehran, Iran
Zoya Heidari
Sharif University of Technology, Tehran, Iran
Hojjat Pendar
Sharif University of Technology, Tehran, Iran
Aria Alasty
Sharif University of Technology, Tehran, Iran
Gholamreza Vossoughi
Sharif University of Technology, Tehran, Iran
Paper No:
DETC2007-34988, pp. 867-876; 10 pages
Published Online:
May 20, 2009
Citation
Mohammadi, S, Heidari, Z, Pendar, H, Alasty, A, & Vossoughi, G. "Optimal Control of an Assisted Passive Snake-Like Robot Using Feedback Linearization." Proceedings of the ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B. Las Vegas, Nevada, USA. September 4–7, 2007. pp. 867-876. ASME. https://doi.org/10.1115/DETC2007-34988
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