Title :
Motion Planning of Piezoelectrically Driven Micro-Robots Via Navigation Functions
Author :
Loizou, Savvas G. ; Kyriakopoulos, Kostas J.
Author_Institution :
Control Syst. Lab., Nat. Tech. Univ. of Athens
Abstract :
In this paper we present a closed loop switching control methodology applicable to piezoelectrically driven micro-robots whose locomotion principle is based on the stick slip effect. The derived controller has theoretically guaranteed global convergence and collision avoidance properties. The effectiveness of the proposed methodology is verified through hardware experiments and computer simulations
Keywords :
closed loop systems; collision avoidance; convergence; microrobots; piezoelectric devices; time-varying systems; closed loop switching control methodology; collision avoidance; global convergence; motion planning; navigation functions; piezoelectrically driven micro-robots; stick slip effect; Actuators; Collision avoidance; Control systems; Hardware; Legged locomotion; Machine learning; Motion control; Navigation; Prototypes; Robot kinematics;
Conference_Titel :
Intelligent Control, 2005. Proceedings of the 2005 IEEE International Symposium on, Mediterrean Conference on Control and Automation
Conference_Location :
Limassol
Print_ISBN :
0-7803-8936-0
DOI :
10.1109/.2005.1467121
