dc.contributor.author | Kelasidi, Eleni | |
dc.contributor.author | Pettersen, Kristin Ytterstad | |
dc.contributor.author | Kohl, Anna M. | |
dc.contributor.author | Gravdahl, Jan Tommy | |
dc.date.accessioned | 2017-03-08T09:03:23Z | |
dc.date.available | 2017-03-08T09:03:23Z | |
dc.date.created | 2016-03-16T10:56:14Z | |
dc.date.issued | 2016 | |
dc.identifier.citation | IEEE Robotics and Automation Letters. 2016, 1 (1), 383-390. | nb_NO |
dc.identifier.issn | 2377-3766 | |
dc.identifier.uri | http://hdl.handle.net/11250/2433234 | |
dc.description.abstract | This 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.iso | eng | nb_NO |
dc.subject | Biologically-Inspired Robots, Marine Robotics, Underactuated Robots | nb_NO |
dc.title | Planar path following of underwater snake robots in the presence of ocean currents | nb_NO |
dc.type | Journal article | nb_NO |
dc.type | Peer reviewed | nb_NO |
dc.source.pagenumber | 383-390 | nb_NO |
dc.source.volume | 1 | nb_NO |
dc.source.journal | IEEE Robotics and Automation Letters | nb_NO |
dc.source.issue | 1 | nb_NO |
dc.identifier.doi | 10.1109/LRA.2016.2517827 | |
dc.identifier.cristin | 1345124 | |
dc.relation.project | Norges forskningsråd: 223254 | nb_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 works | nb_NO |
cristin.unitcode | 194,63,25,0 | |
cristin.unitname | Institutt for teknisk kybernetikk | |
cristin.ispublished | true | |
cristin.fulltext | preprint | |
cristin.qualitycode | 1 | |