Motion Control of the N.T.U.A. Robotic Snake on a Planar Surface

Sarrigeorgidis, K; Kyriakopoulos, K

dc.contributor.author	Sarrigeorgidis, K	en
dc.contributor.author	Kyriakopoulos, K	en
dc.date.accessioned	2014-03-01T02:48:38Z
dc.date.available	2014-03-01T02:48:38Z
dc.date.issued	1998	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/33968
dc.subject	Feedback Stabilization	en
dc.subject	Motion Control	en
dc.subject	State Feedback	en
dc.subject	Trajectory Tracking	en
dc.title	Motion Control of the N.T.U.A. Robotic Snake on a Planar Surface	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROBOT.1998.680882	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROBOT.1998.680882	en
heal.publicationDate	1998	en
heal.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	en
heal.journalName	International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ROBOT.1998.680882	en