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dc.contributor.authorLiljeback, Pål
dc.contributor.authorHaugstuen, Idar Ulvestad
dc.contributor.authorPettersen, Kristin Ytterstad
dc.date.accessioned2015-05-09T11:37:49Z
dc.date.accessioned2015-07-10T10:46:35Z
dc.date.available2015-05-09T11:37:49Z
dc.date.available2015-07-10T10:46:35Z
dc.date.issued2010
dc.identifier.citationProceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes 2010:1969-1976nb_NO
dc.identifier.isbn978-1-4244-7745-6
dc.identifier.issn0191-2216
dc.identifier.urihttp://hdl.handle.net/11250/293032
dc.description- Author postprintnb_NO
dc.description.abstractThis 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.isoengnb_NO
dc.publisherIEEE Conference Publicationsnb_NO
dc.relation.ispartofseriesProceedings 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.titlePath following control of planar snake robots using a cascaded approachnb_NO
dc.typeConference objectnb_NO
dc.date.updated2015-05-09T11:37:49Z
dc.rights.holderInstitute of Electrical and Electronics Engineers (IEEE)
dc.identifier.doi10.1109/CDC.2010.5717823
dc.identifier.cristin517090
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


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