Multi-variable Constrained Control Approach for a Three-Dimensional Eel-like Robot
Résumé
In this paper, a multi-variable feedback design for the 3D movement of an eel-like robot is presented. Such a robot is under construction in the context of a national French robotic project. The proposed feedback enables the tracking of a desired 3D position of the eel's head as well as the stabilization of the rolling angle. The control design is based on a recently developed reduced model that have been validated using a 3D complete continuous model. Several scenarios are proposed to assess the efficiency of the proposed feedback law.
Domaines
Automatique / Robotique| Origine | Fichiers produits par l'(les) auteur(s) |
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