Global tracking control of underactuated ships with off-diagonal terms

Do, K.D.

doi:10.1109/cdc.2003.1272780

Cited by 24 publications

(19 citation statements)

References 14 publications

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“…This complicates the controller design since the body shape changes will affect both the heading and the sideways motion of the robot. Motivated by [36], we see that it is possible to remove the effect of φ on the sideways velocity by a coordinate transformation. In particular, we move the point that determines the position of the snake robot a distance along the tangential direction of the robot from the CM to a new location, which is precisely where the body shape changes of the robot (characterized by e T φ) generate a pure rotational motion and no sideways force.…”

Section: Model Transformationmentioning

confidence: 99%

Path following control of planar snake robots using a cascaded approach

Liljebäck

Haugstuen

Pettersen

2010

49th IEEE Conference on Decision and Control (CDC)

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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 towards and along the desired straight path.

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Section: Model Transformationmentioning

confidence: 99%

Path following control of planar snake robots using a cascaded approach

Liljebäck

Haugstuen

Pettersen

2010

49th IEEE Conference on Decision and Control (CDC)

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“…As pointed out in [11], this complicates the controller design and analysis. Motivated by [28,29], it is suggested in [11] to solve the problem by moving the point that defines the position of the snake robot by a distance ǫ in the tangential direction, from the CM to the pivot point, as can be seen in Fig. 2.…”

Section: B Model Transformationmentioning

confidence: 99%

Planar Path Following of Underwater Snake Robots in the Presence of Ocean Currents

Kohl¹,

Pettersen²,

Kelasidi³

et al. 2016

IEEE Robot. Autom. Lett.

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Abstract-This paper presents a control system that enables an underwater snake robot to converge towards and follow a straight path in the presence of constant irrotational ocean currents. The robot is assumed to be neutrally buoyant, fully submerged and moving in a virtual plane with a sinusoidal gait and limited link angles. The proposed control approach uses a heading controller that exponentially stabilises the heading of the robot towards the desired heading, which is obtained by an integral line-of-sight guidance law. Uniform semi-global exponential stability of the control system is formally proved using cascaded systems and Lyapunov theory. Simulations are presented that illustrate and validate the theoretical results.

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“…This complicates the controller design since the body shape changes will affect both the heading and the sideways motion of the robot. Motivated by [14], we therefore remove the effect of φ on the sideways velocity by the coordinate transformation:…”

Section: B Model Transformationmentioning

confidence: 99%

“…The above controller satisfies the following theorem: Theorem 4: Consider a planar snake robot described by the model (6). Suppose that Assumption 1 is satisfied and that the joints of the robot are controlled according to (7), (8), (9), and (11), where  ref is given by (14) and where  is updated according to (15). Then control objective (13) Proof: The proof of this theorem is developed by following similar steps as the proof presented in [11], and is not included here due to space restrictions.…”

Section: Path Following Control Along Curved Pathsmentioning

confidence: 99%

Waypoint guidance control of snake robots

Liljebäck

Pettersen

2011

2011 IEEE International Conference on Robotics and Automation

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Abstract-This paper considers path following control of snake robots and has two contributions. The first contribution is a description of how a straight line path following controller previously proposed by the authors can be extended to path following of general curved paths. The second contribution of this paper is a waypoint guidance strategy for steering a snake robot along a path defined by waypoints interconnected by straight lines. The waypoint guidance strategy builds on the straight line path following controller previously proposed by the authors. The paper presents simulation results that illustrate the performance of the proposed guidance strategy.

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Global tracking control of underactuated ships with off-diagonal terms

Cited by 24 publications

References 14 publications

Path following control of planar snake robots using a cascaded approach

Path following control of planar snake robots using a cascaded approach

Planar Path Following of Underwater Snake Robots in the Presence of Ocean Currents

Waypoint guidance control of snake robots

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