dc.contributor.author | Nonhoff, Marko | |
dc.contributor.author | köhler, philipp | |
dc.contributor.author | Kohl, Anna M | |
dc.contributor.author | Pettersen, Kristin Ytterstad | |
dc.contributor.author | Allgower, Frank | |
dc.date.accessioned | 2020-02-07T12:00:59Z | |
dc.date.available | 2020-02-07T12:00:59Z | |
dc.date.created | 2020-01-19T11:49:34Z | |
dc.date.issued | 2019 | |
dc.identifier.citation | IEEE Conference on Decision and Control. Proceedings. 2019, 8329-8334. | nb_NO |
dc.identifier.issn | 0743-1546 | |
dc.identifier.uri | http://hdl.handle.net/11250/2640403 | |
dc.description.abstract | Abstract— In this work, the control of snake robot loco-motion via economic model predictive control (MPC) is studied.Only very few examples of applications of MPC to snake robotsexist and rigorous proofs for recursive feasibility and conver-gence are missing. We propose an economic MPC algorithmthat maximizes the robot’s forward velocity and integratesthe choice of the gait pattern into the closed loop. We showrecursive feasibility of the MPC optimization problem, wheresome of the developed techniques are also applicable for theanalysis of a more general class of system. Besides, we provideperformance results and illustrate the achieved performanceby numerical simulations. We thereby show that the economicMPC algorithm outperforms a standard lateral undulationcontroller and achieves constraint satisfaction. Surprisingly, agait pattern different to lateral undulation results from theoptimization. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.publisher | IEEE | nb_NO |
dc.title | Economic model predictive control for snake robot locomotion | nb_NO |
dc.type | Journal article | nb_NO |
dc.type | Peer reviewed | nb_NO |
dc.description.version | acceptedVersion | nb_NO |
dc.source.pagenumber | 8329-8334 | nb_NO |
dc.source.journal | IEEE Conference on Decision and Control. Proceedings | nb_NO |
dc.identifier.cristin | 1776691 | |
dc.relation.project | Norges forskningsråd: 223254 | nb_NO |
dc.description.localcode | © 2019 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 | postprint | |
cristin.qualitycode | 1 | |