| Autor: |
Lal Priya P. S, Sangeetha P N |
| Rok vydání: |
2020 |
| Předmět: |
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| Zdroj: |
2020 International Conference on Power, Instrumentation, Control and Computing (PICC). |
| DOI: |
10.1109/picc51425.2020.9362393 |
| Popis: |
Speed control of a planar snake robot which is not wheeled is investigated in this paper. Sliding mode control is used to devise robust control for speed which is the first of its kind for wheel-less planar snake robots. The robustness is verified in MATLAB simulation and compared with PI control employed in one of the literature for speed control. The tracking results show that employment of sliding mode control is more effective and it outperforms the existing control schemes for speed control of wheel-less serpentine robots. To further validate the effectiveness, a disturbance signal is given and the results depict improved performance in case of sliding mode control. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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