Modeling and Control of a Snake-like robot on a smooth surface

Abstract

In this paper, motion control of a snake-like robot for winding and moving on smooth surface is developed. To design the motion control, a mathematical model of the snake-like robot is derived by Projection method. The Projection method leads both the mathematical model and constraints working in the mathematical model. The constraints give important information for winding and moving on the surface. State-Dependent Riccati Equation (SDRE) control strategy taking the constraints into account realizes winding and moving on the surface for the snake-like robot. The effectiveness of the proposed method is verified through numerical simulations.