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Direction Following Control of Planar Snake Robots Using Virtual Holonomic Constraints

Mohammadi, Alireza; Rezapour, Ehsan; Maggiore, Manfredi; Pettersen, Kristin Ytterstad
Journal article, Peer reviewed
Accepted version
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URI
http://hdl.handle.net/11250/2445871
Date
2015
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  • Institutt for teknisk kybernetikk [2238]
  • Publikasjoner fra CRIStin - NTNU [20804]
Original version
IEEE Conference on Decision and Control. Proceedings. 2015, 2015-February (February), 3801-3808.   10.1109/CDC.2014.7039981
Abstract
This paper investigates the problem of direction following for planar snake robots. The control objective is to regulate the linear velocity vector of the snake robot to a constant reference while guaranteeing boundedness of the system states. The proposed feedback control strategy enforces virtual constraints encoding a lateral undulatory gait, parametrized by states of dynamic compensators used to regulate the orientation and forward speed of the snake robot.
Publisher
IEEE
Journal
IEEE Conference on Decision and Control. Proceedings

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