Direction Following Control of Planar Snake Robots Using Virtual Holonomic Constraints
Journal article, Peer reviewed
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Original versionIEEE Conference on Decision and Control. Proceedings. 2015, 2015-February (February), 3801-3808. 10.1109/CDC.2014.7039981
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.