Locomotion Control of Snake-like Robot utilizing Friction Forces: Stability Verification of Model Following Servo Controller

Abstract

. The purpose of this paper is to verify the e ff ectiveness of Model Following Servo Control (MFSC) as a stabilizing control measure for systems with uncontrollable disturbances. Both the gravity compensation control system of the 1-link manipulator and the head-position control system of the two-wheeled robot is designed. In gravitational compensation control, gravitational acceleration is defined as an uncontrollable state. In the head-position control, the frictional force in the axial direction of the skidding wheel is defined as an uncontrollable state. The e ff ectiveness of the MFSC as a stabilizing control system for systems containing uncontrollable states is verified via numerical simulations.