首页|Researchers at Indian Institute for Technology Target Robotics (Virtual Holonomi c Constraints Based Super Twisting Sliding Mode Control for Motion Control of Pl anar Snake Robot In the Uncertain Underwater Environment)
Researchers at Indian Institute for Technology Target Robotics (Virtual Holonomi c Constraints Based Super Twisting Sliding Mode Control for Motion Control of Pl anar Snake Robot In the Uncertain Underwater Environment)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning DailyNews Daily News-Current study results on Robotics have been published. According to news reportingoriginating from Gauhati, India, by NewsRx correspondents, research stated, "In this article, the snake robothavin g nine links with eight joints is considered for serpentine motion in the underw ater environment.The movement of a snake robot occurs due to nonlinear drag for ces and fluidic torque in underwaterconditions."Funders for this research include IITG Technology Innovation and Development Fou ndation (IITGTIDF), Department of Science & Technology (India).Our news editors obtained a quote from the research from Indian Institute for Te chnology, "Theuncertainties in drag forces and fluidic torque are considered to track the head angle and tangentialvelocity in this work. The virtual holonomi c constraints are formulated to track all the joints by designinga controller f or single joint. The parameters of gait pattern are obtained using the sliding s urface. Thesliding surface is formulated for head link angle and velocity track ing. Super twisting sliding mode controlapproach is proposed to deal with uncer tainties, and results are compared with sliding mode control andadaptive slidin g mode control. The robustness of controller is verified by inputting measuremen t noise.The significant improvement has been observed in chattering indicator a nd control effort by using theproposed super twisting sliding mode control."
GauhatiIndiaAsiaEmerging Technolog iesMachine LearningRobotRoboticsIndian Institute for Technology
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