ポート・ハミルトン形式によるヘビ型ロボットの関節角経路追従制御に関するロバスト性解析

抄録

This paper discusses a path-following control of joint angles of a planar snake robot based on the port-Hamiltonian formulation. An existing controller is extended to solve the problem of the difficulty in specifying the moving direction. Furthermore, the effect of a bounded error in the input is analyzed, which provides a criterion to determine the controller parameters. The validity of the controller and the error analysis is tested via numerical simulations.