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Path Following Control of a Planar Snake Robot with an Exponentially Stabilizing Joint Control Law

Path Following Control of a Planar Snake Robot with an Exponentially Stabilizing Joint Control Law

Kategori
Vitenskapelig artikkel
Sammendrag
This paper considers the problem of path following control of a planar snake robot without
sideslip constraints. We use Lagrangian mechanics to derive the dynamical equations of motion of the
system. The possibility of controlling the orientation of the robot in the absence of external dissipative
forces is investigated. An exponentially stabilizing joint control law for the actuated shape dynamics of
the robot is presented. We analytically design a guidance-based path following control law for the snake
robot, and we show that the trajectories of the heading error dynamics are ultimately bounded with a
bound that can be made arbitrarily small. The efficiency of the control design is shown with simulations.
Oppdragsgiver
  • Other / 205622
Språk
Engelsk
Forfatter(e)
  • Ehsan Rezapour
  • Pål Liljebäck
Institusjon(er)
  • Norges teknisk-naturvitenskapelige universitet
  • SINTEF Digital / Mathematics and Cybernetics
År
Publisert i
Elsevier IFAC Publications / IFAC Proceedings series
ISSN
1474-6670
Forlag
Elsevier
Årgang
8
Hefte nr.
1
Side(r)
28 - 35