Multi-variable Constrained Control Approach for a Three-Dimensional Eel-like RobotReport as inadecuate




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1 GIPSA-SYSCO - SYSCO GIPSA-DA - Département Automatique 2 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

Abstract : 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.





Author: Maher El Rafei - Mazen Alamir - Nicolas Marchand - Mathieu Porez - Frédéric Boyer -

Source: https://hal.archives-ouvertes.fr/



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