Adaptive robust control for planar snake robots / Joyjit Mukherjee, Indra Narayan Kar, Sudipto Mukherjee.
This book shows how a conventional multi-layered approach can be used to control a snake robot on a desired path while moving on a flat surface. To achieve robustness to unknown variations in surface conditions, it explores various adaptive robust control methods. The authors propose a sliding-mode...
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