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

doi:10.1109/JAS.2023.123612

Volume 10 Issue 9

Sep. 2023

IEEE/CAA Journal of Automatica Sinica

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Article Navigation > IEEE/CAA Journal of Automatica Sinica > 2023 > 10(9): 1810-1821

D. F. Li, Y. L. Zhang, P. Li, R. Law, Z. R. Xiang, X. Xu, L. M. Zhu, and E. Q. Wu, “Position errors and interference prediction-based trajectory tracking for snake robots,” IEEE/CAA J. Autom. Sinica, vol. 10, no. 9, pp. 1810–1821, Sept. 2023. doi: 10.1109/JAS.2023.123612

Citation:

D. F. Li, Y. L. Zhang, P. Li, R. Law, Z. R. Xiang, X. Xu, L. M. Zhu, and E. Q. Wu, “Position errors and interference prediction-based trajectory tracking for snake robots,” IEEE/CAA J. Autom. Sinica, vol. 10, no. 9, pp. 1810–1821, Sept. 2023. doi: 10.1109/JAS.2023.123612

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Position Errors and Interference Prediction-Based Trajectory Tracking for Snake Robots

doi: 10.1109/JAS.2023.123612

Funds: This work was supported in part by the National Natural Science Foundation of China (T2325018, U2241228, 62273019, 61825305, U1933125, 72192820, 72192824, 62171274), the China Postdoctoral Science Foundation (2022M710093), and the Open Project Program of the Key Laboratory for Agricultural Machinery Intelligent Control and Manufacturing of Fujian Education Institutions (AMICM202102)

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Author Bio:
Dongfang Li (Member, IEEE) received the B.E. degree in 2014 from Nanjing University of Aeronautics and Astronautics. He received the Ph.D. degree at the School of Mechanical Engineering from Beijing Institute of Technology, in 2021. He is currently an Associate Professor with the School of Electrical Engineering and Automation, Fuzhou University. He is also currently doing post-doctoral work at Shanghai Jiao Tong University. His research interests include the path-following control of snake robots, obstacle avoidance control of snake robots in fluid, and trajectory tracking control of an aircraft

Yilong Zhang received the bachelor degree from the School of Electrical Engineering and Automation, Fuzhou University, in 2023. He is currently a masteral student from the School of Electrical Engineering and Automation, Fuzhou University. His research interests include underwater obstacle avoidance control and path planning for snake robots

Ping Li (Member, IEEE) received the M.Sc and Ph.D degrees in biomedical engineering from Southeast University. She is now a Professor at the School of Biological Science and Medical Engineering, Beihang University. Her research interests include magnetically actuated hydrogel robots, magnetoelectric bifunctional tissue engineering scaffolds, repair of nerve, bone and skin tissue under mechanical-electrical or magnetoelectric stimulation

Rob Law is the University of Macau Development Foundation (UMDF) Chair Professor of smart tourism. He is also an Honorary Professor of several other reputable universities. His research interests include information processing and digital network management. He has received more than 100 research-related awards and accolades, as well as millions of USD external and internal research grants. He has edited four books and published more than 1000 research papers. In addition, he serves different roles for more than 200 research journals. He is the chair/committee member of more than 180 international conferences

Zhengrong Xiang (Member, IEEE) received the Ph.D. degree in control theory and control engineering from Nanjing University of Science and Technology, in 1998. He was appointed as a Lecturer and an Associate Professor at the Nanjing University of Science and Technology in 1998 and 2001, respectively. Since 1998, he has been a Faculty Member with Nanjing University of Science and Technology, where he is currently a Full Professor. His research interests include switched systems, nonlinear control, robust control, and networked control systems

Xin Xu (Senior Member, IEEE) received the Ph.D. degree in control science and engineering from the College of Mechatronics and Automation, National University of Defense Technology (NUDT), in 2002. He has been a Visiting Professor with Hong Kong Polytechnic University, Hong Kong, China. He is currently a Professor with the College of Intelligence Science and Technology, NUDT. His current research interests include intelligent control, reinforcement learning, robotics, and autonomous vehicles. Dr. Xu was a recipient of the National Science Fund for Outstanding Youth in China and the Second-Class National Natural Science Award of China. He has served as an Associate Editor or a Guest Editor for Information Sciences, International Journal of Robotics and Automation, IEEE Transactions on Systems, Man, and Cybernetics: Systems, Intelligent Automation and Soft Computing, International Journal of Adaptive Control and Signal Processing, and Acta Automatica Sinica

Limin Zhu (Member, IEEE) received the B.E. (Hons.) and Ph.D. degrees from Southeast University, in 1994 and 1999, respectively, both in mechanical engineering. He is currently the “Cheung Kong” Chair Professor, Head of the Department of Mechanical Engineering, and Vice Director of the State Key Laboratory of Mechanical System and Vibration. His research interests include mechanical signature analysis for machine and manufacturing process monitoring. He has been an Associate Editor of the IEEE Transactions on Automation Science and Engineering, IEEE/ASME Transactions on Mechatronics

Edmond Q. Wu (Senior Member, IEEE) received the Ph.D. degree in controlling theory and engineering from Southeast University, in 2009. He is a Professor with the Department of Automation, Shanghai Jiao Tong University. He is also currently with Science and Technology on Avionics Integration Laboratory, China National Aeronautical Radio Electronics Research Institute. His research interests include brain-computer cooperative control flight, braininspired network and human-machine interaction. Dr. Wu is currently the Associate Editor of IEEE Transactions on Systems, Man, and Cybernetics: Systems, IEEE Transactions on Intelligent Transportation Systems, IEEE Transactions on Intelligent Vehicles, IEEE Transactions on Cognitive and Developmental Systems, IEEE Transactions on Medical Robotics & Bionics, and IEEE Transactions on Industrial Cyber-physical Systems. He is Also Leading Guest Editor of IEEE Transactions on Automation Science and Engineering and IEEE Transactions on Cognitive and Developmental Systems
Corresponding author: Ping Li, e-mail: liping@bauu.edu.cn; Edmond Q. Wu, e-mail: edmondqwu@sjtu.edu.cn
Received Date: 2023-03-25
Accepted Date: 2023-04-16

Available Online: 2023-05-18

Abstract

Abstract

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.
- Anti-sideslip,
- compensation,
- snake robot,
- trajectory tracking

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References(37)

References

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This work optimizes the LOS guidance law through predicted position errors and interference variables. This method applies anti-sideslip ability to a snake robot, which improves the tracking accuracy of the body to the desired path
This work uses model parameter and friction coefficient predictions of a snake robot to compensate for system input by eliminating the joint’s jitter
This work reduces the fluctuation peak and convergence time of errors and enhances the adaptability of a snake robot to environmental shifts

Position Errors and Interference Prediction-Based Trajectory Tracking for Snake Robots

doi: 10.1109/JAS.2023.123612

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