Robustness Analysis on Joint Path-following Control of a Snake-like Robot Using Port-Hamiltonian Model

This paper discusses a path-following control of joint angles of a planar snake robot based on the port-Hamiltonian formulation. An existing controller is extended to solve the problem of the difficulty in specifying the moving direction. Furthermore, the effect of a bounded error in the input is analyzed, which provides a criterion to determine the controller parameters. The validity of the controller and the error analysis is tested via numerical simulations.