Maneuvering control of planar snake robot: An adaptive robust approach with artificial time delay

DOI10.1002/RNC.5430zbMath1526.93125OpenAlexW3134911974MaRDI QIDQ6068314

Joyjit Mukherjee, Indra Narayan Kar, Sudipto Mukherjee, Spandan Roy

Publication date: 13 November 2023

Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL: https://portal.findresearcher.sdu.dk/da/publications/84cc662f-6865-4b2f-8965-91abfc138f0b

zbMATH Keywords

adaptive-robust controlplanar snake robottime-delayed estimationUUB stability

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Delay control/observation systems (93C43)

Cites Work

• Barrier function-based adaptive sliding mode control
• New methodologies for adaptive sliding mode control
• A new practical robust control of cable‐driven manipulators using time‐delay estimation
• Controllability and Stability Analysis of Planar Snake Robot Locomotion
• Virtual Holonomic Constraints for Euler–Lagrange Systems

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