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dc.contributor.authorKelasidi, Eleni
dc.contributor.authorPettersen, Kristin Ytterstad
dc.contributor.authorKohl, Anna M.
dc.contributor.authorGravdahl, Jan Tommy
dc.date.accessioned2017-03-08T09:03:23Z
dc.date.available2017-03-08T09:03:23Z
dc.date.created2016-03-16T10:56:14Z
dc.date.issued2016
dc.identifier.citationIEEE Robotics and Automation Letters. 2016, 1 (1), 383-390.nb_NO
dc.identifier.issn2377-3766
dc.identifier.urihttp://hdl.handle.net/11250/2433234
dc.description.abstractThis letter presents a control system that enables an underwater snake robot to converge towards and follow a straight path in the presence of constant irrotational ocean currents. The robot is assumed to be neutrally buoyant, fully submerged and moving in a virtual plane with a sinusoidal gait and limited link angles. The proposed control approach uses a heading controller that exponentially stabilises the heading of the robot towards the desired heading, which is obtained by an integral line-ofsight guidance law. Uniform semiglobal exponential stability of the control system is formally proved using cascaded systems and Lyapunov theory. Simulations are presented that illustrate and validate the theoretical results.nb_NO
dc.language.isoengnb_NO
dc.subjectBiologically-Inspired Robots, Marine Robotics, Underactuated Robotsnb_NO
dc.titlePlanar path following of underwater snake robots in the presence of ocean currentsnb_NO
dc.typeJournal articlenb_NO
dc.typePeer reviewednb_NO
dc.source.pagenumber383-390nb_NO
dc.source.volume1nb_NO
dc.source.journalIEEE Robotics and Automation Lettersnb_NO
dc.source.issue1nb_NO
dc.identifier.doi10.1109/LRA.2016.2517827
dc.identifier.cristin1345124
dc.relation.projectNorges forskningsråd: 223254nb_NO
dc.description.localcode(c) 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, 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 component of this work in other worksnb_NO
cristin.unitcode194,63,25,0
cristin.unitnameInstitutt for teknisk kybernetikk
cristin.ispublishedtrue
cristin.fulltextpreprint
cristin.qualitycode1


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