Abstract
Despite remarkable innovation in robotic domain, there is still some problems to overcome sudden trajectory variation of 10 degree of freedom (DOF) snake like robots. In this investigation, two types of control system were employed to control prescribed trajectory of snake like robot. First control system is well known PID controller with constant gain parameters. Second controller is a proposed model reference adaptive control system. However, a proposed neural network controller is used for modeling reference adaptive controller. Finally, the proposed control system has superior performance to adapt the trajectory of snake-like robot.
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Acknowledgements
The author would like to address his sincere thanks to Professor Dr. Şahin Yildirim for his availability and participation which have helped in the realization of this paper.
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Yildirim, Ş., Abdoulaye Ben-Aziz, K. (2018). Design and Proposed Model Reference Trajectory Control of a Snake like Robot. In: Dede, M., İtik, M., Lovasz, EC., Kiper, G. (eds) Mechanisms, Transmissions and Applications. IFToMM 2017. Mechanisms and Machine Science, vol 52. Springer, Cham. https://doi.org/10.1007/978-3-319-60702-3_20
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DOI: https://doi.org/10.1007/978-3-319-60702-3_20
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