Article

Path Following Control of Planar Snake Robots Using a Cascaded Approach

Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol. (NTNU), Trondheim, Norway
IEEE Transactions on Control Systems Technology (impact factor: 1.77). 02/2012; DOI:10.1109/TCST.2011.2107516 pp.111 - 126
Source: IEEE Xplore

ABSTRACT 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.

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Keywords

controller K -exponentially
 
paths
 
physical snake robot
 
positive
 
proposed path
 
simulations
 
snake robot
 
snake robots