dc.contributor.author | Rezapour, Ehsan | |
dc.contributor.author | Pettersen, Kristin Ytterstad | |
dc.contributor.author | Gravdahl, Jan Tommy | |
dc.contributor.author | Liljebäck, Pål | |
dc.date.accessioned | 2017-11-30T07:59:29Z | |
dc.date.available | 2017-11-30T07:59:29Z | |
dc.date.created | 2015-01-20T10:44:00Z | |
dc.date.issued | 2014 | |
dc.identifier.citation | Biomedical Robotics and Biomechatronics (2014 5th IEEE RAS & EMBS International Conference on), 2014, 993-1000 | nb_NO |
dc.identifier.isbn | 978-1-4799-3126-2 | |
dc.identifier.uri | http://hdl.handle.net/11250/2468579 | |
dc.description.abstract | This paper considers guidance-based motion control of planar snake robots using a dynamic feedback control law. We first present the Euler-Lagrange equations of motion of the robot. Subsequently, we introduce a dynamic feedback control law for the joints of the robot to track a desired gait pattern. This tracking control law depends on the time evolution of the state variables of a dynamic compensator which is used for controlling the orientation of the robot. In particular, we employ the dynamic compensator to practically stabilize a reference head angle defined by a Line-of-Sight path following guidance law. Using an input-output stability analysis, we show the uniform boundedness of the solutions of the controlled system. Furthermore, we use a perturbation analysis to show that the orientation error is ultimately bounded by an arbitrarily small bound. Simulation results are presented to validate the theoretical results. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.relation.ispartof | Biomedical Robotics and Biomechatronics (2014 5th IEEE RAS & EMBS International Conference on) | |
dc.title | Body Shape and Orientation Control for Locomotion of Biologically-Inspired Snake Robots | nb_NO |
dc.type | Chapter | nb_NO |
dc.description.version | submittedVersion | nb_NO |
dc.source.pagenumber | 993-1000 | nb_NO |
dc.identifier.cristin | 1202093 | |
dc.relation.project | Norges forskningsråd: 223254 | nb_NO |
dc.relation.project | Norges forskningsråd: 205622 | nb_NO |
cristin.unitcode | 7401,90,23,0 | |
cristin.unitname | Anvendt kybernetikk | |
cristin.ispublished | true | |
cristin.fulltext | preprint | |
cristin.qualitycode | 1 | |