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Content Provider | IEEE Xplore Digital Library |
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Author | Sarrigeorgidis, K. Kyriakopoulos, K.J. |
Copyright Year | 1998 |
Description | Author affiliation: Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA (Sarrigeorgidis, K.) |
Abstract | We extend our previous work (1997, 1998) 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 the previous work. Comparisons of the three feedback stabilizing controls are made. Trajectory tracking is firstly addressed under the notion of flat systems. In a second approach we make use of a dynamic state feedback in order to achieve dynamic decoupling of our system. |
Starting Page | 2977 |
Ending Page | 2982 |
File Size | 559588 |
Page Count | 6 |
File Format | |
ISBN | 078034300X |
ISSN | 10504729 |
DOI | 10.1109/ROBOT.1998.680882 |
Language | English |
Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Publisher Date | 1998-05-20 |
Publisher Place | Belgium |
Access Restriction | Subscribed |
Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subject Keyword | Motion control Control systems Trajectory Robot kinematics State feedback Mechanical systems Mobile robots Humans Inspection Reconnaissance |
Content Type | Text |
Resource Type | Article |
Subject | Electrical and Electronic Engineering Control and Systems Engineering Artificial Intelligence Software |
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