Head-Trajectory-Tracking Control of a Snake Robot and Its Robustness Under Actuator Failure.
Ryo AriizumiRyota TakahashiMotoyasu TanakaToru AsaiPublished in: IEEE Trans. Control. Syst. Technol. (2019)
Keyphrases
- trajectory tracking control
- mobile robot
- control scheme
- autonomous robots
- sliding mode
- dynamic environments
- path planning
- active contours
- multi robot
- robot control
- robotic systems
- closed loop
- visual servoing
- robot manipulators
- real time
- motion planning
- control system
- control law
- energy function
- fuzzy logic
- dynamic model
- control theory
- trajectory tracking