Motion planning of piezoelectrically driven micro-robots via navigation functions

Loizou, SG; Kyriakopoulos, KJ

dc.contributor.author	Loizou, SG	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T02:43:25Z
dc.date.available	2014-03-01T02:43:25Z
dc.date.issued	2005	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/31402
dc.subject	Bounded-input	en
dc.subject	Micro-robots	en
dc.subject	Navigation-functions	en
dc.subject	Sswitching control	en
dc.subject	Stick-slip	en
dc.subject.other	Collision avoidance	en
dc.subject.other	Computer simulation	en
dc.subject.other	Functions	en
dc.subject.other	Intelligent robots	en
dc.subject.other	Motion planning	en
dc.subject.other	Navigation systems	en
dc.subject.other	Bounded-input	en
dc.subject.other	Micro-robots	en
dc.subject.other	Navigation-functions	en
dc.subject.other	Stick-slip	en
dc.subject.other	Piezoelectric devices	en
dc.title	Motion planning of piezoelectrically driven micro-robots via navigation functions	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/.2005.1467121	en
heal.identifier.secondary	http://dx.doi.org/10.1109/.2005.1467121	en
heal.identifier.secondary	1467121	en
heal.publicationDate	2005	en
heal.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. ©2005 IEEE.	en
heal.journalName	Proceedings of the 20th IEEE International Symposium on Intelligent Control, ISIC '05 and the 13th Mediterranean Conference on Control and Automation, MED '05	en
dc.identifier.doi	10.1109/.2005.1467121	en
dc.identifier.volume	2005	en
dc.identifier.spage	826	en
dc.identifier.epage	831	en