{"title":"Locomotion Control of Snake-like Robot utilizing Friction Forces: Stability Verification of Model Following Servo Controller","authors":"Shunsuke Nansai, Hiroshi Itoh","doi":"10.15748/jasse.9.113","DOIUrl":null,"url":null,"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.","PeriodicalId":41942,"journal":{"name":"Journal of Advanced Simulation in Science and Engineering","volume":"1 1","pages":""},"PeriodicalIF":0.4000,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Advanced Simulation in Science and Engineering","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.15748/jasse.9.113","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"ENGINEERING, MULTIDISCIPLINARY","Score":null,"Total":0}
引用次数: 0
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.
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