| dc.contributor.author | Liljeback, Pål | |
| dc.contributor.author | Haugstuen, Idar Ulvestad | |
| dc.contributor.author | Pettersen, Kristin Ytterstad | |
| dc.date.accessioned | 2015-05-09T11:37:49Z | |
| dc.date.accessioned | 2015-07-10T10:46:35Z | |
| dc.date.available | 2015-05-09T11:37:49Z | |
| dc.date.available | 2015-07-10T10:46:35Z | |
| dc.date.issued | 2010 | |
| dc.identifier.citation | Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes 2010:1969-1976 | nb_NO |
| dc.identifier.isbn | 978-1-4244-7745-6 | |
| dc.identifier.issn | 0191-2216 | |
| dc.identifier.uri | http://hdl.handle.net/11250/293032 | |
| dc.description.abstract | This paper considers path following control of snake robots along straight paths. The proposed controller propels the snake robot forward according to the motion pattern lateral undulation while simultaneously adjusting the heading of the robot according to a line-of-sight guidance law that steers the robot towards and subsequently along the desired path. 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 paper presents simulation results that illustrate the effectiveness of the path following controller. | nb_NO |
| dc.language.iso | eng | nb_NO |
| dc.publisher | IEEE Conference Publications | nb_NO |
| dc.relation.ispartofseries | Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes; | |
| dc.rights | © 2010 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 | |
| dc.date.updated | 2015-05-09T11:37:49Z | |
| dc.description.version | acceptedVersion | |
| dc.rights.holder | Institute of Electrical and Electronics Engineers (IEEE) | |
| dc.identifier.doi | 10.1109/CDC.2010.5717823 | |
| dc.identifier.cristin | 517090 | |
| dc.description.localcode | © 2010 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. | nb_NO |
