title: Planar maneuvering control of underwater snake robots using virtual holonomic constraints.
abstract: This paper investigates the problem of planar maneuvering control for bio-inspired underwater snake robots that are exposed to unknown ocean currents. The control objective is to make a neutrally buoyant snake robot which is subject to hydrodynamic forces and ocean currents converge to a desired planar path and traverse the path with a desired velocity. The proposed feedback control strategy enforces virtual constraints which encode biologically inspired gaits on the snake robot configuration. The virtual constraints, parametrized by states of dynamic compensators, are used to regulate the orientation and forward speed of the snake robot. A two-state ocean current observer based on relative velocity sensors is proposed. It enables the robot to follow the path in the presence of unknown constant ocean currents. The efficacy of the proposed control algorithm for several biologically inspired gaits is verified both in simulations for different path geometries and in experiments.
authors.affiliation: Centre for Autonomous Marine Operations and Systems (NTNU-AMOS), Department of Engineering Cybernetics, NTNU, Norwegian University of Science and Technology, NO-7491 Trondheim, Norway.
authors.forename: Anna M
authors.initials: AM
authors.lastname: Kohl
authors.forename: Eleni
authors.initials: E
authors.lastname: Kelasidi
authors.forename: Alireza
authors.initials: A
authors.lastname: Mohammadi
authors.forename: Manfredi
authors.initials: M
authors.lastname: Maggiore
authors.forename: Kristin Y
authors.initials: KY
authors.lastname: Pettersen
mesh_terms: D000465:Algorithms; D000818:Animals; D040761:Biomimetic Materials; D032701:Biomimetics / Q000379:methods*; D005246:Feedback; D005684:Gait; D008124:Locomotion; D012371:Robotics; D000066908:Simulation Training / Q000379:methods*; D012911:Snakes; D014867:Water
chemical_list: D014867:Water