Target Tracking of Snake Robot with Double-Sine Serpentine Gait Based on Adaptive Sliding Mode Control

This paper studies the target tracking control strategy of a snake robot and proposes an adaptive sliding mode method. The ensures follows path by controlling joint angle through feedback, pushing to reach position gait function. In order achieve tracking, kinematic model was first established in this paper. Then, we used double-sine serpentine solve problem low steering efficiency caused regular gait, explored relationship between parameters steering. On basis further improve for robot, method, based on new reaching law, proposed. Finally, effectiveness practicability proposed demonstrated comparative analysis simulation experiments.