Analysis on Transfer Function of Snake-like Robot and its Stability Checking
The paper discusses on the analysis of transfer function and its stability analysis on snake-like robot. Snake robots can manifold four types of motion in the surface level using different transfer function. The major assignment is to derive the transfer function of each segment in the snake-like robot body that can control the snake body to navigate with Dynamic Mechanism. The lead compensators are subject to improve the speed of response of the snake body while lag compensators optimize its errors in deviation while obstacle avoidance. This paper holds a discussion over the controller design procedure using frequency response approach and shows a comparison between the lead-lag and only lag compensators with their transient and impulse responses. Finally, the simulation results were shown to support the stability analysis of the designed control system for snake-like robot. Keywords - Transfer Function, Snake-like Robot, Stability Analysis, Control Theory, Numerical Analysis.