dc.contributor.author | Rezapour, Ehsan | |
dc.contributor.author | Hofmann, Andreas | |
dc.contributor.author | Pettersen, Kristin Ytterstad | |
dc.contributor.author | Mohammadi, Alireza | |
dc.contributor.author | Maggiore, Manfredi | |
dc.date.accessioned | 2014-12-14T14:31:46Z | |
dc.date.accessioned | 2016-07-11T12:21:16Z | |
dc.date.available | 2014-12-14T14:31:46Z | |
dc.date.available | 2016-07-11T12:21:16Z | |
dc.date.issued | 2014 | |
dc.identifier.citation | The 2014 IEEE Multi-Conference on Systems and Control | nb_NO |
dc.identifier.isbn | 978-1-4799-7405-4 | |
dc.identifier.uri | http://hdl.handle.net/11250/2396284 | |
dc.description.abstract | This paper considers direction following control
of planar snake robots for which the equations of motion are
described based on a simplified model. In particular, we aim
to regulate the orientation and the forward velocity of the
robot to a constant vector, while guaranteeing the boundedness
of the states of the controlled system. To this end, we first
stabilize a constraint manifold for the fully-actuated body
shape variables of the robot. The definition of the constraint
manifold is inspired by the well-known reference joint angle
trajectories which induce lateral undulatory motion for snake
robots. Subsequently, we reduce the dynamics of the system
to the invariant constraint manifold. Furthermore, we design
two dynamic compensators which control the orientation and
velocity of the robot on this manifold. Using numerical analysis and a formal stability proof, we show that the solutions of the dynamic compensators remain bounded. Numerical simulations are presented to validate the theoretical design. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.publisher | IEEE | nb_NO |
dc.relation.uri | http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6981476&queryText%3Drezapour | |
dc.title | Virtual Holonomic Constraints Based Direction Following Control of Planar Snake Robots Described by a Simplified Model | nb_NO |
dc.type | Chapter | nb_NO |
dc.date.updated | 2014-12-14T14:31:46Z | |
dc.source.pagenumber | 1064 - 1071 | nb_NO |
dc.identifier.doi | 10.1109/CCA.2014.6981476 | |
dc.identifier.cristin | 1184007 | |
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 |