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020			_a9783030714604
024	7		_a10.1007/978-3-030-71460-4 _2doi
040			_aES-MaUEC _bspa _cES-MaUEC _dES-MaUEC
050		4	_aTJ217.2 _b2021 EB
100	1		_aMukherjee, Joyjit _eautor _0(orcid)0000-0003-1682-3434 _1https://orcid.org/0000-0003-1682-3434 _4aut _4http://id.loc.gov/vocabulary/relators/aut _9682110
245	1	0	_aAdaptive Robust Control for Planar Snake Robots _cby Joyjit Mukherjee, Indra Narayan Kar, Sudipto Mukherjee.
250			_aFirst edition 2021
264		1	_aCham _bSpringer International Pulishing _c2021
300			_a1 recurso en línea (XVI, 168 páginas) _b101 ilustraciones, 98 ilustraciones a color
336			_2rdacontent _aTexto _btxt
337			_2rdamedia _aelectrónico _bc
338			_2rdacarrier _arecurso electrónico _bcr
347			_aarchivo de texto _bPDF
490	0		_aStudies in Systems, Decision and Control _x2198-4190 _v363
490	0		_aIntelligent Technologies and Robotics (SpringerNature-42732)
490	0		_aIntelligent Technologies and Robotics (R0) (SpringerNature-43728)
505	0		_aIntroduction -- Adaptive Sliding-Mode Control for Velocity and Head-Angle Tracking -- Time Delayed Control for Planar Snake Robots -- Adaptive Robust Time Delayed Control for Planar Snake Robots -- Differential Flatness and its Application to Snake Robots -- Modeling of in-Pipe Snake Robot Motion -- Conclusions.
520	3		_aThis 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 control approach designed to achieve robust maneuvering for bounded uncertainty with a known upper bound. The control is modified by addition of an adaptation law to alleviate the overestimation problem of the switching gain as well as to circumvent the requirement for knowledge regarding the bounds of uncertainty. The book works toward non-conservativeness, achieving efficient tracking in the presence of slowly varying uncertainties with a specially designed framework for time-delayed control. It shows readers how to extract superior performance from their snake robots with an approach that allows robustness toward bounded time-delayed estimation errors. The book also demonstrates how the multi-layered control framework can be simplified by employing differential flatness for such a system. Finally, the mathematical model of a snake robot moving inside a uniform channel using only side-wall contact is discussed. The model has further been employed to demonstrate adaptive robust control design for such a motion. Using numerous illustrations and tables, Adaptive Robust Control for Planar Snake Robots will interest researchers, practicing engineers and postgraduate students working in the field of robotics and control systems.
988			_aSpringer_Robotics_2021
650		7	_2embne _9496877 _aMecatrónica
700	1		_aKar, Indra Narayan _eautor _4aut _4http://id.loc.gov/vocabulary/relators/aut _9682111
700			_aMukherjee, Sudipto _eautor _4aut _4http://id.loc.gov/vocabulary/relators/aut _9682112
776	0	8	_iPrinted edition: _z9783030714598
776	0	8	_iPrinted edition: _z9783030714611
776	0	8	_iPrinted edition: _z9783030714628
856	4	0	_uhttps://go.openathens.net/redirector/universidadeuropea.es?url=https://doi.org/10.1007/978-3-030-71460-4 _zAcceso a este recurso digital (usuarios Universidad Europea de Madrid)
942			_2lcc _cLE