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dc.contributor.authorRezapour, Ehsan
dc.contributor.authorPettersen, Kristin Ytterstad
dc.contributor.authorLiljebäck, Pål
dc.contributor.authorGravdahl, Jan Tommy
dc.date.accessioned2014-12-14T14:34:57Z
dc.date.accessioned2016-07-07T11:28:22Z
dc.date.available2014-12-14T14:34:57Z
dc.date.available2016-07-07T11:28:22Z
dc.date.issued2014
dc.identifier.citationProceedings / IEEE International Conference on Robotics and Automation 2014:4532 -4539nb_NO
dc.identifier.issn1050-4729
dc.identifier.urihttp://hdl.handle.net/11250/2395972
dc.description.abstractThis paper considers straight line path following control of wheel-less planar snake robots using sliding mode techniques. We first derive the Poincaré representation of the equations of motion of the robot using the techniques of differential geometry. Furthermore, we use partial feedback linearization to linearize the directly actuated part of the system dynamics. Subsequently, we propose an analytical solution to the robust path following control problem in two steps. In the first step, we use sliding mode techniques to design a robust tracking controller for the joints of the robot to track a desired gait pattern. In the second step, we stabilize an appropriately defined sliding manifold for the underactuated configuration variables of the robot, thereby guaranteeing convergence of the robot to the desired straight path. The paper presents simulation results which validate the theoretical results.nb_NO
dc.language.isoengnb_NO
dc.publisherIEEEnb_NO
dc.titleDifferential Geometric Modelling and Robust Path Following Control of Snake Robots Using Sliding Mode Techniquesnb_NO
dc.typeConference objectnb_NO
dc.typeJournal articlenb_NO
dc.typePeer reviewednb_NO
dc.date.updated2014-12-14T14:34:58Z
dc.source.pagenumber4532 - 4539nb_NO
dc.identifier.doi10.1109/ICRA.2014.6907521
dc.identifier.cristin1139385
dc.description.localcode(c) 2014 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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