Differential geometric modelling and robust path following control of snake robots using sliding mode techniques.
Ehsan RezapourKristin Ytterstad PettersenPål LiljebäckJan Tommy GravdahlPublished in: ICRA (2014)
Keyphrases
- sliding mode
- differential geometric
- formation control
- control strategy
- variable structure
- stability analysis
- sliding mode control
- robot manipulators
- control law
- trajectory tracking
- mobile robot
- robotic systems
- control scheme
- sliding surface
- control theory
- adaptive control
- control method
- control system
- active contour model
- smooth surfaces
- control algorithm
- optimal control
- autonomous robots
- active contours
- control parameters
- nonlinear systems
- neural network
- color images
- optical flow