dc.contributor.author | Kohl, Anna M. | |
dc.contributor.author | Kelasidi, Eleni | |
dc.contributor.author | Pettersen, Kristin Ytterstad | |
dc.contributor.author | Gravdahl, Jan Tommy | |
dc.date.accessioned | 2016-01-09T14:15:12Z | |
dc.date.accessioned | 2016-05-31T13:17:42Z | |
dc.date.available | 2016-01-09T14:15:12Z | |
dc.date.available | 2016-05-31T13:17:42Z | |
dc.date.issued | 2015 | |
dc.identifier.citation | Proceedings of the IEEE Conference on Control Applications 2015:1585-1592 | nb_NO |
dc.identifier.issn | 1085-1992 | |
dc.identifier.uri | http://hdl.handle.net/11250/2390931 | |
dc.description.abstract | This 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.iso | eng | nb_NO |
dc.publisher | IEEE | nb_NO |
dc.title | A control-oriented model of underwater snake robots exposed to currents | nb_NO |
dc.type | Chapter | nb_NO |
dc.date.updated | 2016-01-09T14:15:12Z | |
dc.description.version | acceptedVersion | |
dc.source.pagenumber | 1585-1592 | nb_NO |
dc.identifier.doi | 10.1109/CCA.2015.7320836 | |
dc.identifier.cristin | 1304296 | |
dc.relation.project | Norges forskningsråd: 223254 | nb_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 |