Path Following Control of Planar Snake Robots Using a Cascaded Approach
نویسندگان
چکیده
منابع مشابه
Path Following Control of a Planar Snake Robot with an Exponentially Stabilizing Joint Control Law
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 dyna...
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ژورنال
عنوان ژورنال: IEEE Transactions on Control Systems Technology
سال: 2011
ISSN: 1063-6536,1558-0865
DOI: 10.1109/tcst.2011.2107516