Modeling and control of snake-like robot to move in the tube

The purpose of this study is to realize driving of snake-like robot in a tube. The modeling of the snake-like robot in a tube is important for design the driving control. Hence the model is described by Projection Method. The driving control is derived by State Dependent Riccati Equation based on the model. Numerical simulations present the snake-like robot can drive in a tube as its head position is converged to the origin.