Motion control of the n.t.u.a. robotic snake on a planar surface

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 4, Issue , 1998, Pages 2977-2982

  Sarrigeorgidis, K ^a   Kyriakopoulos, K J ^b  

^a UNIVERSITY OF CALIFORNIA   (United States)

^b NATIONAL TECHNICAL UNIVERSITY OF ATHENS   (Greece)

Author keywords

[No Author keywords available]

Indexed keywords

KINEMATICS; ROBOTICS; STABILIZATION; STATE FEEDBACK; ALGORITHMS; FEEDBACK CONTROL; MATHEMATICAL MODELS; MOTION CONTROL; SYSTEM STABILITY; TRACKING (POSITION);

ARBITRARY TRAJECTORIES; DYNAMIC DECOUPLING; FEEDBACK STABILIZING; FLAT SYSTEMS; KINEMATIC MODEL; PLANAR SURFACE; TRAJECTORY TRACKING;

ROBOT PROGRAMMING; MOBILE ROBOTS;

ROBOTIC SNAKE;

EID: 0031626298     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.1998.680882     Document Type: Conference Paper

References (19)

1. K. Sarrigeorgidis and K. J. Kyriakopoulos. Steering of a robotic snake. In submitted to the 5th IEEE Mediterranean Conf. on Control and Automation, 1997.
2. K. J. Kyriakopoulos, K. Sarrigeorgidis, and G. Migadis. The N.T.U.A. Robotic Snake. Advances in Intelligent Autonomous Systems. Kluwer, 1998.
3. P. Martin M. Fliess, J. Levine and P. Rouchon. Design of trajectory stabilizing feedback for drift- less flat systems. In 1995 European Control Conf., 1995.
4. G. Migadis and K. J. Kyriakopoulos. Design and forward kinematic analysis of a robotic snake. In 1997 IEEE International Conf. on Robotics and Automation, April 1997.
5. R. Brockett. Asymptotic stability and feedback stabilizaton, pages 181-208. In Differential Geo-metric Control Theory. Birkhauser, 1983.
6. M. Reyhanoglu A. M. Bloch and N. H. McClam- roch. Control and stabilization of nonholonomic dynamic systems. IEEE Trans, on Automatic Control, 37:1746-1757, November 1992.
7. C. Canudas de Wit and O. J. Sordalen. Exponential stabilization of mobile robots with nonholo-nomic constraints. IEEE Trans, on Automatic Control, 37(11):1791-1797, 1992.
8. R. Murray A. Teel and G. Walsh. Nonholonomic control systems: From steering to stabilization with sinusoids. In 31st IEEE Conf. on Decision and Control, pages 1603-1609, December 1992.
9. O. Sordalen and O. Egeland. Exponential stabilization of nonholonomic chained systems. IEEE Trans, on Automatic Control, 40:35-49, January 1995.
10. G. Walsh and L. Bushnell. Stabilization of multiple input chained form control systems. In IEEE Conf. on Decision and Control, pages 959-964, December 1993.
11. R. Mc Closkey and R. Murray. Exponential stabilization of driftless nonlinear control systems us-ing homogeneous feedback. Submitted to IEEE Trans, on Automatic Control, 1995.
12. P. Morin and C. Samson. Application of back- stepping techniques to the time-varying exponen-tial stabilization of chained form systems. In IEEE Conf. on Decision and Control, 1996.
13. S. Sastry R. Murray G. Walsh, D. Tilbury and J.P. Laumond. Stabilization of trajectories for systems with nonholonomic constraints. IEEE Trans. Automat. Control, 39:216-222, 1994.
14. J. Levine P. Rouchon, M. Fliess and P. Martin. Flatness, motion planning and trailer systems. In 32nd IEEE Conf. on Robotics and Automation, pages 2700-2705, December 1993.
15. T. Kobayashi M. Sampei, T. Tamura and N. Shibui. Arbitrary path tracking control of articulated vehicles using nonlinear control theory. IEEE Trans, on Control systems Technology, 3:125-131, March 1995.
16. C. Samson. Control of chained systems, application to path following and time-varying point- stabilization of mobile robots. IEEE Trans, on Automatic Control, 40:64-77, 1995.
17. A. Chelouah and M. Petitot. Finitely discretiz- Able nonlinear systems xoncepts and definitions. In 34th IEEE Conf. on Decision and Control, December 1995.
18. M. Kawski. Nilpotent lie algebras of vector fields. Journal fur die reine und angewandte Mathe- matic, pages 1-17, 1988.
19. H. Nijmeijer and W. Respondek. Dynamic input - output decoupling of nonlinear control systems. IEEE Trans, on Automatic Control, 33:10651070, November 1988.