| dc.contributor.author | Mohammadi, Alireza | |
| dc.contributor.author | Rezapour, Ehsan | |
| dc.contributor.author | Maggiore, Manfredi | |
| dc.contributor.author | Pettersen, Kristin Ytterstad | |
| dc.date.accessioned | 2017-06-13T06:51:29Z | |
| dc.date.available | 2017-06-13T06:51:29Z | |
| dc.date.created | 2015-01-09T10:28:07Z | |
| dc.date.issued | 2015 | |
| dc.identifier.citation | IEEE Conference on Decision and Control. Proceedings. 2015, 2015-February (February), 3801-3808. | nb_NO |
| dc.identifier.issn | 0743-1546 | |
| dc.identifier.uri | http://hdl.handle.net/11250/2445871 | |
| dc.description.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. | nb_NO |
| dc.language.iso | eng | nb_NO |
| dc.publisher | IEEE | nb_NO |
| dc.title | Direction Following Control of Planar Snake Robots Using Virtual Holonomic Constraints | nb_NO |
| dc.type | Journal article | nb_NO |
| dc.type | Peer reviewed | nb_NO |
| dc.description.version | acceptedVersion | nb_NO |
| dc.source.pagenumber | 3801-3808 | nb_NO |
| dc.source.volume | 2015-February | nb_NO |
| dc.source.journal | IEEE Conference on Decision and Control. Proceedings | nb_NO |
| dc.source.issue | February | nb_NO |
| dc.identifier.doi | 10.1109/CDC.2014.7039981 | |
| dc.identifier.cristin | 1193682 | |
| dc.relation.project | Norges forskningsråd: 205622 | nb_NO |
| dc.relation.project | Norges forskningsråd: 223254 | nb_NO |
| dc.description.localcode | © 2014 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. This is the authors' accepted and refereed manuscript to the article. | nb_NO |
| cristin.unitcode | 194,63,25,0 | |
| cristin.unitname | Institutt for teknisk kybernetikk | |
| cristin.ispublished | true | |
| cristin.fulltext | postprint | |
| cristin.qualitycode | 1 | |
