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Volume 10 Issue 1
Jan.  2023

IEEE/CAA Journal of Automatica Sinica

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Article Contents
Y. Xiu, D. F. Li, M. M. Zhang, H. B. Deng, R. Law, Y. Huang, E. Q. Wu, and  X. Xu,  “Finite-time sideslip differentiator-based LOS guidance for robust path following of snake robots,” IEEE/CAA J. Autom. Sinica, vol. 10, no. 1, pp. 239–253, Jan. 2023. doi: 10.1109/JAS.2022.106052
Citation: Y. Xiu, D. F. Li, M. M. Zhang, H. B. Deng, R. Law, Y. Huang, E. Q. Wu, and  X. Xu,  “Finite-time sideslip differentiator-based LOS guidance for robust path following of snake robots,” IEEE/CAA J. Autom. Sinica, vol. 10, no. 1, pp. 239–253, Jan. 2023. doi: 10.1109/JAS.2022.106052

Finite-Time Sideslip Differentiator-Based LOS Guidance for Robust Path Following of Snake Robots

doi: 10.1109/JAS.2022.106052
Funds:  This work was supported in part by the National Natural Science Foundation of China (61825305, 62171274, U1933125, U2241228, 62273019), the Shanghai Science and Technology Major Project (2021SHZDZX), the National Natural Science Foundation of China through the Main Research Projecton Machine Behavior and Human-Machine Collaborated Decision Making Methodology (72192820), the Third Research Projecton Human Behavior in Human-Machine Collaboration (72192822), and the China Postdoctoral Science Foundation (2022M710093)
More Information
  • This paper presents a finite-time sideslip differentiator-based line-of-sight (LOS) guidance method for robust path following of snake robots. Firstly, finite-time stable sideslip differentiator and adaptive LOS guidance method are proposed to counteract sideslip drift caused by cross-track velocity. The proposed differentiator can accurately observe the cross-track error and sideslip angle for snake robots to avoid errors caused by calculating sideslip angle approximately. In our method, the designed piecewise auxiliary function guarantees the finite-time stability of position errors. Secondly, for the case of external disturbances and state constraints, a Barrier Lyapunov function-based backstepping adaptive path following controller is presented to improve the robot’s robustness. The uniform ultimate boundedness of the closed-loop system is proved by analyzing stability. Additionally, a gait frequency adjustment-based virtual velocity control input is derived to achieve the exponential convergence of the tangential velocity. At last, the availability and superiority of this work are shown through simulation and experiment results.


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    • The finite-time-based sideslip differentiator and anti-sideslip LOS guidance method for snake robots are proposed to counteract sideslip caused by the cross-track velocity
    • A barrier Lyapunov function-based backstepping adaptive path following controller for snake robots is designed to improve the robustness of the robot to the environment
    • A virtual velocity control input is derived to achieve the exponential convergence of the snake robot’s velocity error


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