Referenced Items are not available for this document.
This paper considers path following control of snake robots along straight paths. Under the assumption that the forward velocity of the snake robot is nonzero and positive, we prove that the proposed path following controller K-exponentially stabilizes a snake robot to any desired straight path. The performance of the path following controller is investigated through simulations and through experiments with a physical snake robot, where the controller successfully steers the snake robot toward and along the desired straight path.
Published in:
Control Systems Technology, IEEE Transactions on
(Volume:20
,
Issue:
1
)
Date of Publication: Jan. 2012
- Page(s):
- 111 - 126
- ISSN :
- 1063-6536
- INSPEC Accession Number:
- 12409568
- Digital Object Identifier :
- 10.1109/TCST.2011.2107516
- Product Type:
- Journals & Magazines
- Date of Publication :
- 14 February 2011
- Date of Current Version :
- 12 December 2011
- Issue Date :
- Jan. 2012
- Sponsored by :
- IEEE Control Systems Society
About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies
A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2013 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.
