Title :
Stabilization and trajectory tracking of a robotic snake
Author :
Sarrigeorgidis, K. ; Kyriakopoulos, K.J.
Author_Institution :
Dept. of Mech. Eng., Nat. Tech. Univ. of Athens, Greece
Abstract :
We present and compare the design methodologies for controlling the motion of the robotic snake designed in our laboratory. We address the problems of stabilization and trajectory tracking
Keywords :
asymptotic stability; control system synthesis; mobile robots; motion control; position control; robot kinematics; design methodologies; robotic snake; stabilization; trajectory tracking; Asymptotic stability; Control design; Control systems; Design methodology; Feedback; Laboratories; Mechanical systems; Motion control; Robot kinematics; Trajectory;
Conference_Titel :
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4187-2
DOI :
10.1109/CDC.1997.657919
