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Position Errors and Interference Prediction-Based Trajectory Tracking for Snake Robots

Dongfang Li Yilong Zhang Ping Li Rob Law Zhengrong Xiang Xin Xu Limin Zhu Edmond Q.Wu

自动化学报（英文版）2023，Vol.10Issue(9)：1810-1821,12.

自动化学报（英文版）2023，Vol.10Issue(9)：1810-1821,12.DOI:10.1109/JAS.2023.123612

Position Errors and Interference Prediction-Based Trajectory Tracking for Snake Robots

Dongfang Li ¹Yilong Zhang ²Ping Li ³Rob Law ⁴Zhengrong Xiang ⁵Xin Xu ⁶Limin Zhu ⁷Edmond Q.Wu⁸

作者信息

1. School of Electrical Engineering and Automation,Fuzhou University,Fuzhou 350108,the Sino-US Global Logistics Institute,Shanghai Jiao Tong University,Shanghai 200240,and the Key Laboratory for Agricultural Machinery Intelligent Control and Manufacturing of Fujian Education Institutions,Fuzhou 350108,China
2. School of Electrical Engineering and Automation,Fuzhou University,Fuzhou 350108,China
3. School of Biological Science and Medical Engineering and the Key Laboratory for Biomechanics and Mechanobiology of Ministry of Education,Beihang University,Beijing 100191,China
4. University of Macau,Macao 999078,China
5. School of Automation,Nanjing University of Science and Technology,Nanjing 210094,China
6. College of Intelligence Science and Technology,National University of Defence Technology,Changsha 410073,China
7. School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China
8. Department of Automation,Shanghai Jiao Tong University,Shanghai 200240,China
折叠

摘要

关键词

Anti-sideslip/compensation/snake robot/trajectory tracking

Key words

Anti-sideslip/compensation/snake robot/trajectory tracking

引用本文复制引用

Dongfang Li,Yilong Zhang,Ping Li,Rob Law,Zhengrong Xiang,Xin Xu,Limin Zhu,Edmond Q.Wu..Position Errors and Interference Prediction-Based Trajectory Tracking for Snake Robots[J].自动化学报（英文版）,2023,10(9):1810-1821,12.

基金项目

This work was supported in part by the National Natural Science Foundation of China(U2241228,62273019,61825305,U1933125,72192820,72192824,62171274),the China Postdoctoral Science Foundation(2022M710093),and the Open Project Program of the Key Laboratory for Agricultural Machinery Intelligent Control and Manufacturing of Fujian Education Institutions(AMICM202102). （U2241228,62273019,61825305,U1933125,72192820,72192824,62171274）

自动化学报（英文版）

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