LEADER 03930nam 22006735 450 001 9910483545303321 005 20251204105743.0 010 $a3-030-71460-8 024 7 $a10.1007/978-3-030-71460-4 035 $a(CKB)5470000000556783 035 $a(MiAaPQ)EBC6613132 035 $a(Au-PeEL)EBL6613132 035 $a(OCoLC)1251444558 035 $a(PPN)255884389 035 $a(BIP)80178748 035 $a(BIP)79127360 035 $a(DE-He213)978-3-030-71460-4 035 $a(EXLCZ)995470000000556783 100 $a20210511d2021 u| 0 101 0 $aeng 135 $aurcnu|||||||| 181 $ctxt$2rdacontent 182 $cc$2rdamedia 183 $acr$2rdacarrier 200 10$aAdaptive Robust Control for Planar Snake Robots /$fby Joyjit Mukherjee, Indra Narayan Kar, Sudipto Mukherjee 205 $a1st ed. 2021. 210 1$aCham :$cSpringer International Publishing :$cImprint: Springer,$d2021. 215 $a1 online resource (179 pages) 225 1 $aStudies in Systems, Decision and Control,$x2198-4190 ;$v363 311 1 $a3-030-71459-4 320 $aIncludes bibliographical references and index. 327 $aIntroduction -- Adaptive Sliding-Mode Control for Velocity and Head-Angle Tracking -- Time Delayed Control for Planar Snake Robots -- Adaptive Robust Time Delayed Control for Planar Snake Robots -- Di?erential Flatness and its Application to Snake Robots -- Modeling of in-Pipe Snake Robot Motion -- Conclusions. 330 $aThis book shows how a conventional multi-layered approach can be used to control a snake robot on a desired path while moving on a flat surface. To achieve robustness to unknown variations in surface conditions, it explores various adaptive robust control methods. The authors propose a sliding-mode control approach designed to achieve robust maneuvering for bounded uncertainty with a known upper bound. The control is modified by addition of an adaptation law to alleviate the overestimation problem of the switching gain as well as to circumvent the requirement for knowledge regarding the bounds of uncertainty. The book works toward non-conservativeness, achieving efficient tracking in the presence of slowly varying uncertainties with a specially designed framework for time-delayed control. It shows readers how to extract superior performance from their snake robots with an approach that allows robustness toward bounded time-delayed estimation errors. The book also demonstrates howthe multi-layered control framework can be simplified by employing differential flatness for such a system. Finally, the mathematical model of a snake robot moving inside a uniform channel using only side-wall contact is discussed. The model has further been employed to demonstrate adaptive robust control design for such a motion. Using numerous illustrations and tables, Adaptive Robust Control for Planar Snake Robots will interest researchers, practicing engineers and postgraduate students working in the field of robotics and control systems. 410 0$aStudies in Systems, Decision and Control,$x2198-4190 ;$v363 606 $aControl engineering 606 $aRobotics 606 $aAutomation 606 $aControl, Robotics, Automation 606 $aRobotic Engineering 606 $aControl and Systems Theory 606 $aRobotics 615 0$aControl engineering. 615 0$aRobotics. 615 0$aAutomation. 615 14$aControl, Robotics, Automation. 615 24$aRobotic Engineering. 615 24$aControl and Systems Theory. 615 24$aRobotics. 676 $a629.892 700 $aMukherjee$b Joyjit$0943099 702 $aMukherjee$b Sudipto 702 $aKar$b Indra Narayan 801 0$bMiAaPQ 801 1$bMiAaPQ 801 2$bMiAaPQ 906 $aBOOK 912 $a9910483545303321 996 $aAdaptive Robust Control for Planar Snake Robots$92128323 997 $aUNINA