Multi-variable Constrained Control Approach for a Three-Dimensional Eel-like Robot

Maher El Rafei (1) , Mazen Alamir (1) , Nicolas Marchand (1) , Mathieu Porez (2) , Frédéric Boyer (2)

1 GIPSA-SYSCO - GIPSA - Systèmes non linéaires et complexité
2 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

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.

Domaines: Automatique / Robotique

Maher El Rafei, Mazen Alamir, Nicolas Marchand, Mathieu Porez, Frédéric Boyer. Multi-variable Constrained Control Approach for a Three-Dimensional Eel-like Robot. IROS 2008 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2008, Nice, France. http://iros2008.inria.fr/, ⟨10.1109/IROS.2008.4650695⟩. ⟨hal-00287819⟩