Integral Line of Sight Guidance Scheme-Based Tracking Method for Snake Robots

This study investigates the trajectory tracking strategy of a snake robot with sideslip disturbance and unknown model parameters. To guide the robot to track the ideal trajectory faster and more accurately, an adaptive anti-sideslip strategy for a snake robot with the Integral Line-of-Sight (ILOS) function is reported. This technique eliminates direction sideslip and error fluctuation by using auxiliary integral terms and shortens the convergence time of state variables. Following the position and angle control objectives, the proposed controller considers the negative effects caused by the uncertainty and time variability of environmental parameters and compensates for the joint input using the adaptive update laws. The environment adaptability and tracking efficiency are improved. The stability analysis indicates that the state errors converge to the origin. The simulation and experiment data verifies the effectiveness and strength of the work.