Model-Based LOS Path-Following Control of Planar Underwater Snake Robots

Kohl, A. M.; Kelasidi, Eleni; Pettersen, Kristin Y.; Gravdahl, Jan Tommy

doi:10.1007/978-3-319-55372-6_16

Cited by 2 publications

(1 citation statement)

References 16 publications

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“…In [17], the authors analyzed the locomotion of a planar eel-like robot in the presence of ocean currents and derived a simplified control-oriented model for general sinusoidal gaits. Furthermore, they developed a model-based control system of the planar eel-like robot with sinusoidal gaits for straight-line path following [18]. In [19], a simple open-loop sinusoidal-based controller was employed to identify which type of traveling waves produced the fastest locomotion gaits.…”

Section: Introductionmentioning

confidence: 99%

Design, control, and experiments of a fluidic soft robotic eel

Chen¹,

Wang²,

Wu³

et al. 2021

Smart Mater. Struct.

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This work develops a fluidic soft robotic eel which combines the adaptability of soft material and the flexibility of eel-shaped body together. The soft eel-like robot consists of multiple soft actuation segments each of which is capable of bidirectional bending by two embedded symmetrical fluidic chambers. Propulsion will be produced when proper control rules are applied to the bending angles of the actuation segments. Robot design, prototype fabrication and system integration are described step by step. A motion controller based on central pattern generator (CPG) is designed for the soft eel-like robot by using identified parameters. Substantial experiments are implemented to evaluate the performance of the prototype. It is shown that the soft eel-like robot can flexibly perform linear motion and turning motion. Moreover, the soft eel-like robot keeps good continuity even when the parameters of the CPG-based controller changes. In general, the experimental results verify the effectiveness of the design and control methods for the soft eel-like robot, which provides a potential candidate to underwater exploration with limited space.

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Section: Introductionmentioning

confidence: 99%

Design, control, and experiments of a fluidic soft robotic eel

Chen¹,

Wang²,

Wu³

et al. 2021

Smart Mater. Struct.

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Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots

Orucevic

Gravdahl

Pettersen

et al. 2022

2022 IEEE Conference on Control Technology and Applications (CCTA)

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In this paper, Lyapunov theory for uniform practical asymptotic stability (UPAS) is presented and utilized to solve the problem of position control of a planar underwater snake robot (USR). First, a precise definition of UPAS is presented, which imposes that, locally, all solutions converge to the origin up to a steady-state error that can be arbitrarily reduced by a convenient parameter tuning. Additionally, a sufficient condition for UPAS of a time-varying nonlinear system and a theorem for UPAS of cascaded systems are presented. These are then utilized to design controllers that stabilize the position of an USR when approaching from such a direction that the USR moves against the current. Results from numerical simulations are then investigated to validate the theoretical results.

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Model-Based LOS Path-Following Control of Planar Underwater Snake Robots

Cited by 2 publications

References 16 publications

Design, control, and experiments of a fluidic soft robotic eel

Design, control, and experiments of a fluidic soft robotic eel

Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots

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