| dc.contributor.author | Liljeback, Pål | |
| dc.contributor.author | Haugstuen, Idar Ulvestad | |
| dc.contributor.author | Pettersen, Kristin Ytterstad | |
| dc.date.accessioned | 2015-05-09T10:47:08Z | |
| dc.date.accessioned | 2015-07-07T08:40:46Z | |
| dc.date.available | 2015-05-09T10:47:08Z | |
| dc.date.available | 2015-07-07T08:40:46Z | |
| dc.date.issued | 2012 | |
| dc.identifier.citation | IEEE Transactions on Control Systems Technology 2012, 20(1):111-126 | nb_NO |
| dc.identifier.issn | 1063-6536 | |
| dc.identifier.uri | http://hdl.handle.net/11250/286617 | |
| dc.description | - Author postprint | nb_NO |
| dc.description.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. | nb_NO |
| dc.language.iso | eng | nb_NO |
| dc.publisher | IEEE | nb_NO |
| dc.rights | (c) 2012 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, 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 components of this work in other works. | |
| dc.title | Path following control of planar snake robots using a cascaded approach | nb_NO |
| dc.type | Journal article | nb_NO |
| dc.type | Peer reviewed | en_GB |
| dc.date.updated | 2015-05-09T10:47:08Z | |
| dc.rights.holder | IEEE | |
| dc.source.pagenumber | 111-126 | nb_NO |
| dc.source.volume | 20 | nb_NO |
| dc.source.journal | IEEE Transactions on Control Systems Technology | nb_NO |
| dc.source.issue | 1 | nb_NO |
| dc.identifier.doi | 10.1109/TCST.2011.2107516 | |
| dc.identifier.cristin | 875125 | |
| dc.relation.project | Norges forskningsråd: 205622 | nb_NO |
