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dc.contributor.authorKohl, Anna M.
dc.contributor.authorKelasidi, Eleni
dc.contributor.authorPettersen, Kristin Ytterstad
dc.contributor.authorGravdahl, Jan Tommy
dc.date.accessioned2016-01-09T14:15:12Z
dc.date.accessioned2016-05-31T13:17:42Z
dc.date.available2016-01-09T14:15:12Z
dc.date.available2016-05-31T13:17:42Z
dc.date.issued2015
dc.identifier.citationProceedings of the IEEE Conference on Control Applications 2015:1585-1592nb_NO
dc.identifier.issn1085-1992
dc.identifier.urihttp://hdl.handle.net/11250/2390931
dc.description.abstractThis paper presents a control-oriented model of a neutrally buoyant underwater snake robot that is exposed to a constant irrotational current. The robot is assumed to move in a horizontal, fully submerged plane with a sinusoidal gait pattern and limited link angles. The intention behind the proposed model is to describe the qualitative behaviour of the robot by a simplified kinematic approach, thus neglecting some of the non-linear effects that do not significantly contribute to the overall behaviour. This results in a model with significantly less complex dynamic equations than existing models, which makes the new model well-fitted for control design and analysis. An existing, more complex model and a class of sinusoidal gait patterns are analysed, leading to several properties that serve as a basis for the simplified model. Some of the revealed properties are also valid for ground robots. Simulations that qualitatively validate the theoretical results are presented.nb_NO
dc.language.isoengnb_NO
dc.publisherIEEEnb_NO
dc.titleA control-oriented model of underwater snake robots exposed to currentsnb_NO
dc.typeConference objectnb_NO
dc.typeJournal articlenb_NO
dc.typePeer reviewednb_NO
dc.date.updated2016-01-09T14:15:12Z
dc.source.pagenumber1585-1592nb_NO
dc.identifier.doi10.1109/CCA.2015.7320836
dc.identifier.cristin1304296
dc.relation.projectNorges forskningsråd: 223254nb_NO
dc.description.localcode(c) 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.nb_NO


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