Name
Abstract | ||
|---|---|---|
In this paper, the problem of path following for underactuated snake robots is investigated by using approximate dynamic programming and neural networks (NNs). The lateral undulatory gait of a snake robot is stabilized in a virtual holonomic constraint manifold through a partial feedback linearizing control law. Based on a dynamic compensator and Line-of-Sight guidance law, the path-following prob... |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1109/TNNLS.2017.2768820 | IEEE Transactions on Neural Networks and Learning Systems |
Keywords | Field | DocType |
Robots,Dynamics,Manifolds,Artificial neural networks,Nonlinear dynamical systems,Optimal control | Dynamic programming,Optimal control,Holonomic constraints,Nonlinear system,Computer science,Control theory,Underactuation,Robot,Artificial neural network,Tracking error | Journal |
Volume | Issue | ISSN |
29 | 1 | 2162-237X |
Citations | PageRank | References |
7 | 0.45 | 25 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Cao Zhengcai | 1 | 42 | 16.38 |
| Qing Xiao | 2 | 10 | 1.85 |
| ran huang | 3 | 31 | 4.52 |
| MengChu Zhou | 4 | 8989 | 534.94 |