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Adaptive robust control for a soft robotic snake: a smooth-zone approach. (English) Zbl 1481.93092

Summary: This paper targets the motion control problem of a soft robotic snake with uncertainty. The problem is formulated as constraint-following. From practical point of view, the uncertainty is assumed to be (possibly fast) time-varying and bounded. The bound is unknown. To render constraint-following for the soft robotic snake, a new adaptive robust control is designed based on a novel design of the adaptation law. A smooth-zone approach is proposed to construct the adaptation law. Compared with the past discontinuous (hence non-smooth) dead-zone approach, the proposed approach ensures the adaptation law to be, besides saving control effort, continuous so that the adaptive parameters can vary smoothly, which in turn assures a smooth robot operation. We demonstrate that, even in the presence of uncertainty, the proposed control is capable of rendering approximate constraint-following by guaranteeing uniform boundedness and uniform ultimate boundedness. Simulation results on the soft robotic snake demonstrate the effectiveness and advantages of the proposed control.

MSC:

93C85 Automated systems (robots, etc.) in control theory
93C40 Adaptive control/observation systems
70E60 Robot dynamics and control of rigid bodies
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References:

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