Motion control of the NTUA robotic snake on a planar surface

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 addressed under the notion of flat systems. In a second approach we make use of a dynamic state feedback in order to achieve dynamic decoupling of our system