Constraints following control of snake robot by leakage-type adaptive law

A modeling approach and adaptive robust control are proposed for snake robot in this paper. First, the dynamic equation is obtained by dividing the constraints into structural and performance constraints by Udwadia and Kalaba approach. According to this approach, there is no approximation, linearization or extra variables such as Lagrangian multiplier. Next, a leakage-type adaptive law is used to estimate the unknown bound of the uncertainty. This control can guarantee the snake robot follow the trajectory accurately, regardless of uncertainty. In the end, simulation results verify that the movement of snake robot head can satisfy the desired one and the real-time joint torque can be acquired conveniently by using the proposed approach.