Adaptive Robust Control for Planar Snake Robots

Dr. Joyjit Mukherjee received his bachelor’s degree in Electrical Engineering from National Institute of Technology (NIT) Durgapur in 2010, M.Tech. in Mechatronics & Robotics from Bengal Engineering & Science University (BESU, Now IIEST) in 2013, and his Ph.D. in Robotics & Control at the Department of Electrical Engineering, Indian Institute of Technology (IIT) in 2019. He worked as Research Associate in a JATC-DRDO project on Soft Exosuit at IIT Delhi from January to September 2019. Currently, he is working as Postdoc at the University of South Denmark on Digital Twins for Robotic Applications. His research interests include robotics, aerospace systems, time-delayed control, adaptive robust control, optimal control, differential flatness, human–robot interaction and digital twins.Professor Indra Narayan Kar received his B.E. degree from Bengal Engineering College (Now IIEST, Shibpur) in 1988, and his M.Tech. and Ph.D. degrees from the Indian Institute of Technology Kanpur (IITK), India, in 1991 and 1997, respectively, all in Electrical Engineering. He was Research Student at Nihon University under the Japanese Government Monbusho Scholarship Program from 1996 to 1998. He joined the Department of Electrical Engineering, Indian Institute of Technology Delhi (IITD), in 1998, where, at present, he is working as Professor. He is presently working as Institute Chair Professor in the same department. His research interests include nonlinear control, time-delayed control, incremental stability analysis, cyber-physical system, application of control theory in power network and robotics. He has published more than 150 papers in international journals and conferences.Professor Sudipto Mukherjee received his B.Tech degree from Indian Institute of Technology Kanpur (IITK), India, in 1985, and his M.S. and Ph.D. degrees from the Ohio State University (OSU), USA, in 1987 and 1992, respectively. He worked as Assistant Professor in the Department of MechanicalEngineering, Indian Institute of Technology Kanpur (IITK), from 1992 to 1996. He joined the Department of Mechanical Engineering, Indian Institute of Technology Delhi (IITD), in 1997. He is presently Ford Chair Professor in the same department. His research interests include mechanisms, robotics, mechanical system design and impact biomechanics.

• Introduction.- 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.

“The book reports the recent progress in methods used to control planar snake robots, achieved by the authors. The book is well–written. It can be recommended to researchers, engineers and graduate students who are interested in robotics, automatic control, optimal control problems and their effective solutions.” (Wiesław Kotarski, zbMATH 1508.93005, 2023)