dc.contributor.author | Gushkov, Ivan Ivanov | |
dc.contributor.author | Orucevic, Amer | |
dc.contributor.author | Pettersen, Kristin Ytterstad | |
dc.contributor.author | Yao, Weijia | |
dc.contributor.author | Gravdahl, Jan Tommy | |
dc.date.accessioned | 2023-12-08T12:07:04Z | |
dc.date.available | 2023-12-08T12:07:04Z | |
dc.date.created | 2023-11-10T15:30:26Z | |
dc.date.issued | 2023 | |
dc.identifier.isbn | 979-8-3503-3544-6 | |
dc.identifier.uri | https://hdl.handle.net/11250/3106609 | |
dc.description.abstract | In this paper, a guiding vector field (GVF) approach is applied to solve the path-following problem of a static unbounded sinusoidal path for an underwater snake robot (USR) in the presence of constant irrotational currents. A sliding mode velocity controller for the USR is designed, and the path-following error dynamics for the normalized GVF are analyzed through cascaded systems theory. The cascade is shown to be globally uniformly asymptotically stable (GUAS) when perturbed by a uniformly bounded interconnection term which vanishes with the heading error. Results from a simulation study with a complex USR model are presented, validating the design approach. | en_US |
dc.language.iso | eng | en_US |
dc.publisher | IEEE | en_US |
dc.relation.ispartof | Proceedings of the 2023 IEEE Conference on Control Technology and Applications (CCTA) | |
dc.title | Vector Field Path Following of Static Sinusoidal Paths for Underwater Snake Robots | en_US |
dc.title.alternative | Vector Field Path Following of Static Sinusoidal Paths for Underwater Snake Robots | en_US |
dc.type | Chapter | en_US |
dc.description.version | publishedVersion | en_US |
dc.rights.holder | This version will not be available due to the publisher's copyright. | en_US |
dc.source.pagenumber | 878-885 | en_US |
dc.identifier.doi | 10.1109/CCTA54093.2023.10252704 | |
dc.identifier.cristin | 2195209 | |
cristin.ispublished | true | |
cristin.fulltext | original | |
cristin.qualitycode | 1 | |