Snakelike robot adaptive path following controller based on tracking error and time-varying coefficient prediction and design method thereof

Abstract

The invention provides a snakelike robot adaptive path following controller based on tracking error and time-varying coefficient prediction and a design method thereof. Based on a multi-joint snakelike robot kinematics model and a control function of gait joints, according to a dynamic control task and a posture control task in a snakelike robot path following process, based on the predicted value of the motion position error of the snakelike robot, the predicted value of the time variable of the sideslip angle and the predicted value component of the interference variable, the expected motion direction angle of the snakelike robot is obtained through an improved LOS method, and gait control over the multi-joint snakelike robot is carried out; and according to the virtual auxiliary function of the motion direction angular velocity of the multi-joint snake-shaped robot and the joint angle compensation function of the snake-shaped robot, based on an updating law of a parameter predicted value, asymptotic stability of a motion direction angle error, a joint angle error and a predicted value error of the multi-joint snake-shaped robot is achieved. According to the method, the robot can predict tracking position errors and interference variables.

Description

technical field [0001] The invention belongs to the technical field of motion control of bionic robots, and in particular relates to a snake-like robot adaptive path-following controller based on tracking error and time-varying coefficient prediction and a design method thereof. Background technique [0002] With the continuous development of science and technology, the research field of robots continues to expand, and the types of robots are constantly enriched, and bionic robots are a new product that combines bionics and robotics research fields, among which, the multi-joint snake-shaped bionic robot The research has attracted people's attention; the snake-like robot is a multi-degree-of-freedom flexible robot that people imitate the snake's movement mode and movement mechanism; this kind of robot can move in complex environments such as land, lakes and deserts; the snake-like robot is in Post-disaster rescue, underwater exploration, dangerous operations, and anti-terrori...

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Problems solved by technology

[0003]The motion environment of the multi-joint snake-like robot is complex and changeable, which brings many difficulties to the research of the path-following controller of the snake-like robot; The movement position error of the snake-like robot increases, and the sudden change of the ground friction coefficient and the joint rotation coefficient will also bring many negative effects to the motion control of the snake-like robot; It is of great significance, which can lay a solid foundation for the study of complex motion postures of snake-like robots

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