The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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A Study on I-PID-Based 2-DOF Snake Robot Head Control Scheme Using RBF Neural Network and Robust Term

RBF 신경망과 강인 항을 적용한 I-PID 기반 2 자유도 뱀 로봇 머리 제어에 관한 연구

  • Sung-Jae Kim (The Industrial Science Technology Research Center, Pukyong National University) ;
  • Jin-Ho Suh (Major of Mechanical System Engineering, Pukyong National University)
  • Received : 2024.04.30
  • Accepted : 2024.05.21
  • Published : 2024.05.31
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Abstract

In this paper, we propose a two-degree-of-freedom snake robot head system and an I-PID (Intelligent Proportional-Integral-Derivative)-based controller utilizing RBF (Radial Basis Function) neural network and adaptive robust terms as a control strategy to reduce rotation occurring in the snake robot head. This study proposes a two-degree-of-freedom snake robot head system to avoid complex snake robot dynamics. This system has a control system independent of the snake robot. Subsequently, it utilizes an I-PID controller to implement a control system that can effectively manage rotation at the snake robot head, the robot's nonlinearity, and disturbances. To compensate for the time delay estimation errors occurring in the I-PID control system, an RBF neural network is integrated. Additionally, an adaptive robust term is designed and integrated into the control system to enhance robustness and generate control inputs responsive to signal changes. The proposed controller satisfies stability according to Lyapunov's theory. The proposed control strategy was tested using a 9-degreeof-freedom snake robot. It demonstrates the capability to reduce rotation in Lateral undulation, Rectilinear, and Sidewinding locomotion.

Keywords

Acknowledgement

This work was supported by the Technology Innovation Program (No. 20018110, "Development of a wireless teleoperable relief robot for detecting searching and responding in narrow space") funded by the Ministry of Trade, Industry & Energy (MOTIE, Korea).

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