Steering control of a snake robot with environment uncertainties

This paper explores steer control of a snake robot with environment uncertainties. Based on a simplified dynamic model, an adaptive controller is proposed to adjust the friction parameters on-line. With the specific Lyapunov stability analysis, the desired turning angle can be obtained by regulating a single input parameter of the reference joint angle. Thus, the proposed controller is able to control the turning angle of the snake robot without adjusting the parameters manually with different environments. Simulations and experimental studies in different friction cases are offered to validate effectiveness and adaptability of the proposed motion control strategy.