TY - GEN
T1 - Motion control of the n.t.u.a. robotic snake on a planar surface
AU - Sarrigeorgidis, K.
AU - Kyriakopoulos, K. J.
N1 - Publisher Copyright:
© 1998 Institute of Electrical and Electronics Engineers Inc. All rights reserved.
PY - 1998
Y1 - 1998
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=0031626298&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0031626298&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.1998.680882
DO - 10.1109/ROBOT.1998.680882
M3 - Conference contribution
AN - SCOPUS:0031626298
SN - 078034300X
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2977
EP - 2982
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 15th IEEE International Conference on Robotics and Automation, ICRA 1998
Y2 - 16 May 1998 through 20 May 1998
ER -