Sliding Mode Control of Planar Snake Robot With Uncertainty Using Virtual Holonomic Constraints
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DOI: 10.1109/lra.2017.2657892
Abstract: In this paper, we present a sliding mode control (SMC) based approach to address the velocity tracking and head-angle control problem of a planar snake robot. The motion characteristics of a snake exhibit the generation… read more here.
Keywords: planar snake; sliding mode; snake robot; control ... See more keywords