dc.contributor.author | Rezapour, Ehsan | |
dc.contributor.author | Liljebäck, Pål | |
dc.date.accessioned | 2014-12-14T14:41:25Z | |
dc.date.accessioned | 2016-07-04T08:45:59Z | |
dc.date.available | 2014-12-14T14:41:25Z | |
dc.date.available | 2016-07-04T08:45:59Z | |
dc.date.issued | 2013 | |
dc.identifier.citation | Elsevier IFAC Publications / IFAC Proceedings series 2013, 8(1):28-35 | nb_NO |
dc.identifier.issn | 1474-6670 | |
dc.identifier.uri | http://hdl.handle.net/11250/2395421 | |
dc.description.abstract | This paper considers the problem of path following control of a planar snake robot without sideslip constraints. We use Lagrangian mechanics to derive the dynamical equations of motion of the system. The possibility of controlling the orientation of the robot in the absence of external dissipative forces is investigated. An exponentially stabilizing joint control law for the actuated shape dynamics of the robot is presented. We analytically design a guidance-based path following control law for the snake robot, and we show that the trajectories of the heading error dynamics are ultimately bounded with a bound that can be made arbitrarily small. The efficiency of the control design is shown with simulations. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.publisher | Elsevier Ltd. | nb_NO |
dc.relation.ispartofseries | IFAC Proceedings series;8th IFAC Symposium on Intelligent Autonomous Vehicles | |
dc.title | Path Following Control of a Planar Snake Robot with an Exponentially Stabilizing Joint Control Law | nb_NO |
dc.type | Journal article | nb_NO |
dc.date.updated | 2014-12-14T14:41:26Z | |
dc.description.version | submittedVersion | |
dc.rights.holder | Copyright © 2013 IFAC. Published by Elsevier Ltd. All rights reserved. | nb_NO |
dc.source.pagenumber | 28-35 | nb_NO |
dc.source.volume | 46 | nb_NO |
dc.source.issue | 10 | nb_NO |
dc.identifier.doi | 10.3182/20130626-3-AU-2035.00035 | |
dc.identifier.cristin | 1091853 | |
dc.relation.project | Andre: 205622 | nb_NO |
dc.description.localcode | © 2013 IFAC. This article was originally published in IFAC-PapersOnLine, vol. 46, issue 11, Pages 28-35 (http://www.sciencedirect.com/science/article/pii/S1474667015349053). | nb_NO |