An adaptive global fractional order terminal sliding mode snake robot control method

By constructing a dynamic model of the snake robot and an adaptive global fractional-order terminal sliding mode control method, the problems of modeling complexity and control accuracy were solved, and efficient and precise control of the snake robot was achieved.

CN119322444BActive Publication Date: 2026-06-02GUANYUN POWER SUPPLY OF JIANGSU ELECTRIC POWER
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Patent Information

Authority / Receiving Office
CN Β· China
Patent Type
Patents(China)
Current Assignee / Owner
GUANYUN POWER SUPPLY OF JIANGSU ELECTRIC POWER
Filing Date
2024-09-03
Publication Date
2026-06-02

AI Technical Summary

Technical Problem

The modeling process of biomimetic snake robots is extremely complex and difficult to solve. Existing control algorithms are inadequate for real-time tracking control and cannot meet high-precision requirements.

Method used

Based on the dynamic model of an N-joint snake robot, a tracking error dynamic model is constructed. Uncertainties and external disturbances are observed using a radial basis neural network observer with cubic B-spline basis functions. A global fractional-order terminal sliding surface is designed, and an adaptive global fractional-order terminal sliding controller is constructed by combining it with an adaptive isokinetic approach rate.

Benefits of technology

The modeling process was simplified, the robustness and control accuracy of the system were improved, and the rapid convergence and high-precision control of the snake robot system were achieved.

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Abstract

The application discloses a kind of self-adapting global fractional order terminal sliding mode serpentine robot control methods.In order to solve the problem of high complexity in modeling process, it is difficult to solve, an error dynamics model is constructed, and the design difficulty of control system is further simplified. In response to the uncertain terms and unknown disturbances that may exist in the model, a radial basis function neural network observer is introduced, which effectively approximates the estimation of these uncertain factors. In order to ensure that the joint serpentine robot system can converge quickly, an adaptive constant rate control strategy is designed, and combined with the global fractional order terminal sliding surface, not only the high-precision control of the system is realized, but also the robustness of the system is significantly enhanced.
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