Multi-variable constrained control approach for a three-dimensional eel-like robot

摘要

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 eelpsilas 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 described in [3]. Several scenarios are proposed to assess the efficiency of the proposed feedback law.