research-article

Manoeuvring control of the snake robot using multi-variable super twisting sliding mode control in the uncertain underwater environment

Authors:

Bhavik M. Patel,

Santosha K DwivedyAuthors Info & Claims

AIR '23: Proceedings of the 2023 6th International Conference on Advances in Robotics

Article No.: 59, Pages 1 - 6

https://doi.org/10.1145/3610419.3610478

Published: 02 November 2023 Publication History

AIR '23: Proceedings of the 2023 6th International Conference on Advances in Robotics

Manoeuvring control of the snake robot using multi-variable super twisting sliding mode control in the uncertain underwater environment

Pages 1 - 6

Abstract
References

Abstract

In this work, the locomotion of the snake robot in an uncertain underwater environment using a virtual holonomic constraints-based multi-variable super-twisting sliding mode control approach is proposed. The aim of the work is to increase the tangential velocity tracking of the snake robot with minimum chattering effect.

References

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Robert L. Baines, Joran W. Booth, Frank E. Fish, and Rebecca Kramer-Bottiglio. 2019. Toward a bio-inspired variable-stiffness morphing limb for amphibious robot locomotion. In 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft). 704–710. https://doi.org/10.1109/ROBOSOFT.2019.8722772

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M Calisti, F Corucci, A Arienti, and C Laschi. 2015. Dynamics of underwater legged locomotion: modeling and experiments on an octopus-inspired robot. Bioinspiration & Biomimetics 10, 4 (jul 2015), 046012. https://doi.org/10.1088/1748-3190/10/4/046012

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Thor I Fossen. 2011. Handbook of marine craft hydrodynamics and motion control. John Wiley & Sons.

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Rim Hendel, Farid Khaber, and Najib Essounbouli. 2020. Adaptive high-order sliding mode controller-observer for MIMO uncertain nonlinear systems. Asian Journal of Control 22, 6 (2020), 2309–2329. https://doi.org/10.1002/asjc.2167

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Hassan K Khalil. 2002. Nonlinear systems third edition. Vol. 115. Patience Hall.

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Anna M Kohl, Eleni Kelasidi, Alireza Mohammadi, Manfredi Maggiore, and Kristin Y Pettersen. 2016. Planar maneuvering control of underwater snake robots using virtual holonomic constraints. Bioinspiration & Biomimetics 11, 6 (nov 2016), 065005. https://doi.org/10.1088/1748-3190/11/6/065005

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A. M. Kohl, E. Kelasidi, K. Y. Pettersen, and J. T. Gravdahl. 2015. A control-oriented model of underwater snake robots exposed to currents. In 2015 IEEE Conference on Control Applications (CCA). 1585–1592. https://doi.org/10.1109/CCA.2015.7320836

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Pål Liljeback, Idar U. Haugstuen, and Kristin Y. Pettersen. 2012. Path Following Control of Planar Snake Robots Using a Cascaded Approach. IEEE Transactions on Control Systems Technology 20, 1 (2012), 111–126. https://doi.org/10.1109/TCST.2011.2107516

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Pal Liljeback, Oyvind Stavdahl, Kristin Y. Pettersen, and Jan Tommy Gravdahl. 2014. Mamba - A waterproof snake robot with tactile sensing. In 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems. 294–301. https://doi.org/10.1109/IROS.2014.6942575

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Jason Lim, Weixin Yang, Yantao Shen, and Jingang Yi. 2020. Analysis and Validation of Serpentine Locomotion Dynamics of a Wheeled Snake Robot Moving on Varied Sloped Environments. In 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM). 1069–1074. https://doi.org/10.1109/AIM43001.2020.9158974

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Alireza Mohammadi, Ehsan Rezapour, Manfredi Maggiore, and Kristin Y. Pettersen. 2016. Maneuvering Control of Planar Snake Robots Using Virtual Holonomic Constraints. IEEE Transactions on Control Systems Technology 24, 3 (2016), 884–899. https://doi.org/10.1109/TCST.2015.2467208

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Joyjit Mukherjee, Indra Narayan Kar, and Sudipto Mukherjee. 2017. Adaptive sliding mode control for head-angle and velocity tracking of planar snake robot. In 2017 11th Asian Control Conference (ASCC). 537–542. https://doi.org/10.1109/ASCC.2017.8287227

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Joyjit Mukherjee, Sudipto Mukherjee, and Indra Narayan Kar. 2017. Sliding Mode Control of Planar Snake Robot With Uncertainty Using Virtual Holonomic Constraints. IEEE Robotics and Automation Letters 2, 2 (2017), 1077–1084. https://doi.org/10.1109/LRA.2017.2657892

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Indira Nagesh and Christopher Edwards. 2014. A multivariable super-twisting sliding mode approach. Automatica 50, 3 (2014), 984–988. https://doi.org/10.1016/j.automatica.2013.12.032

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Bhavik Patel, Jyotindra Narayan, and Santosha K. Dwivedy. 2022. Symbiotic Organism Search-based Locomotion of Underwater Snake Robot in various Environments. In 2022 2nd International Conference on Image Processing and Robotics (ICIPRob). 1–6. https://doi.org/10.1109/ICIPRob54042.2022.9798727

[17]

Bhavik M Patel and Santosha Kumar Dwivedy. 0. Virtual holonomic constraints based super twisting sliding mode control for motion control of planar snake robot in the uncertain underwater environment. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 0, 0 (0), 09596518231153253. https://doi.org/10.1177/09596518231153253

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Avilash Sahoo, Santosha K. Dwivedy, and P.S. Robi. 2019. Advancements in the field of autonomous underwater vehicle. Ocean Engineering 181 (2019), 145–160. https://doi.org/10.1016/j.oceaneng.2019.04.011

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Cited By

Patel BNarayan JDwivedy S(2024)Manoeuvring planar snake robot in uncertain underwater condition using adaptive neural network sliding mode controlInternational Journal of Dynamics and Control10.1007/s40435-024-01490-912:11(4138-4156)Online publication date: 30-Aug-2024
https://doi.org/10.1007/s40435-024-01490-9

Index Terms

Manoeuvring control of the snake robot using multi-variable super twisting sliding mode control in the uncertain underwater environment
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Robotics
      1. Robotic control

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AIR '23: Proceedings of the 2023 6th International Conference on Advances in Robotics

July 2023

583 pages

ISBN:9781450399807

DOI:10.1145/3610419

Copyright © 2023 ACM.

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Published: 02 November 2023

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AIR 2023

AIR 2023: Advances In Robotics - 6th International Conference of The Robotics Society

July 5 - 8, 2023

Ropar, India

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Cited By

Patel BNarayan JDwivedy S(2024)Manoeuvring planar snake robot in uncertain underwater condition using adaptive neural network sliding mode controlInternational Journal of Dynamics and Control10.1007/s40435-024-01490-912:11(4138-4156)Online publication date: 30-Aug-2024
https://doi.org/10.1007/s40435-024-01490-9

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