Motion planning of piezoelectrically driven micro-robots via navigation functions

Savvas G. Loizou, Kostas J. Kyriakopoulos

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

Abstract

In this paper we present a closed loop switching control methodology applicable to piezoelectrically driven micro-robots whose locomotion principle is based on the stick slip effect. The derived controller has theoretically guaranteed global convergence and collision avoidance properties. The effectiveness of the proposed methodology is verified through hardware experiments and computer simulations.

Original languageEnglish (US)
Title of host publicationProceedings of the 20th IEEE International Symposium on Intelligent Control, ISIC '05 and the 13th Mediterranean Conference on Control and Automation, MED '05
Pages826-831
Number of pages6
DOIs
StatePublished - 2005
Event20th IEEE International Symposium on Intelligent Control, ISIC '05 and the13th Mediterranean Conference on Control and Automation, MED '05 - Limassol, Cyprus
Duration: Jun 27 2005Jun 29 2005

Publication series

NameProceedings of the 20th IEEE International Symposium on Intelligent Control, ISIC '05 and the 13th Mediterranean Conference on Control and Automation, MED '05
Volume2005

Other

Other20th IEEE International Symposium on Intelligent Control, ISIC '05 and the13th Mediterranean Conference on Control and Automation, MED '05
Country/TerritoryCyprus
CityLimassol
Period6/27/056/29/05

Keywords

  • Bounded-input
  • Micro-robots
  • Navigation-functions
  • Sswitching control
  • Stick-slip

ASJC Scopus subject areas

  • Engineering(all)

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