Article Overview
This study designs and compares two control strategies—optimized feedback linearization and optimized sliding mode control—for the forward locomotion of a bio-inspired caterpillar robot composed of five links connected by torque-actuated joints. Starting from the robot’s nonlinear equations of motion, both controllers are formulated to track desired joint trajectories.
Controller parameters are tuned using a genetic algorithm with an objective that considers both tracking error and control effort. Robustness is then evaluated under parameter uncertainty, sensor noise, and actuator disturbances.
Key Features
- Nonlinear dynamic modeling: Derives the equations of motion for a five-link caterpillar robot.
- Optimized motion control: Designs feedback linearization and sliding mode controllers and tunes their parameters using a genetic algorithm.
- Robustness evaluation: Compares tracking performance under parameter uncertainty, sensor noise, and actuator disturbances.
Figures
Sequential motion propagation
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Citation
@article{amiri2021motion,
title={Motion control of a caterpillar robot using optimized feedback linearization and sliding mode controllers},
author={Amiri, Niloufar and Fakhari, Vahid and Sepahvand, Shayan},
journal={International Journal of Dynamics and Control},
volume={9},
number={3},
pages={1107--1116},
year={2021},
publisher={Springer}
}