Optimal Path Following Control With Efficient Computation for Snake Robots Subject to Multiple Constraints and Unknown Frictions - Li, Xiaohan; Ren, Chao; Ma, Shugen (IEEE robotics and automation letters, 2022)
Keywords: Acceleration; Biologically-inspired robots; Computational modeling; Constraint modelling; Double integrators; Dynamic models; Environment models; Friction; motion control; Optimization; Predictive control; Predictive models; Real-time systems; Robots; Robust control; Sideslip; Snake robots; State observers; Trajectory planning