Motion control of the n.t.u.a. robotic snake on a planar surface

K. Sarrigeorgidis, K. J. Kyriakopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper we extend our previous work [1> 2] on steering a robotic snake and we now address the problems of (i) stabilization about an arbitrary configuration and (ii) tracking an arbitrary trajectory. For stabilization we apply three different algorithms for the kinematic model derived in [1, 2]. Comparisons of the three feedback stabilizing controls are made. Trajectory tracking is firstly addressed under the notion of flat systems [3J. In a second approach we make use of a dynamic state feedback in order to achieve dynamic decoupling of our system.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2977-2982
Number of pages6
ISBN (Print)078034300X
DOIs
StatePublished - 1998
Event15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium
Duration: May 16 1998May 20 1998

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume4
ISSN (Print)1050-4729

Conference

Conference15th IEEE International Conference on Robotics and Automation, ICRA 1998
Country/TerritoryBelgium
CityLeuven
Period5/16/985/20/98

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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