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- W2617884711 abstract "This chapter presents a model-based control system for straight-line path-following of neutrally buoyant underwater snake robots that move with a planar sinusoidal gait in the presence of an unknown, constant and irrotational ocean current. The control system is based on a cascaded design, where a line-of-sight guidance law is employed in the outer control loop in order to provide a heading reference for the robot. In the presence of currents, the guidance scheme is augmented with integral action in order to compensate for the steady-state error. This work reviews the theoretical control concept and provides experimental test results with a swimming snake robot that demonstrate the concept of the control system and validate the theoretical analysis." @default.
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- W2617884711 date "2017-01-01" @default.
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- W2617884711 title "Model-Based LOS Path-Following Control of Planar Underwater Snake Robots" @default.
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- W2617884711 doi "https://doi.org/10.1007/978-3-319-55372-6_16" @default.
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