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Path following control of planar snake robots using a cascaded approach

Liljeback, Pål; Haugstuen, Idar Ulvestad; Pettersen, Kristin Ytterstad
Journal article, Peer reviewed
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URI
http://hdl.handle.net/11250/286617
Date
2012
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  • Institutt for teknisk kybernetikk [2842]
  • Publikasjoner fra CRIStin - NTNU [26648]
Original version
IEEE Transactions on Control Systems Technology 2012, 20(1):111-126   10.1109/TCST.2011.2107516
Abstract
This paper considers path following control of snake robots along straight paths. Under the assumption that the forward velocity of the snake robot is nonzero and positive, we prove that the proposed path following controller K-exponentially stabilizes a snake robot to any desired straight path. The performance of the path following controller is investigated through simulations and through experiments with a physical snake robot, where the controller successfully steers the snake robot toward and along the desired straight path.
Description
- Author postprint
Publisher
IEEE
Journal
IEEE Transactions on Control Systems Technology
Copyright
IEEE

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