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An observer is proposed to estimate attitude and angular velocity subject to time-varying inertia reference vectors and unavailability of angular velocity, simultaneously. To deal with the absence of the angular velocity information, the Lyapunov transformation is proposed and the quadratic term on the angular velocity in the dynamic equation is canceled to facilitate the observer design. Therefore...
This paper presents a front-unit-following control method for a snake-like robot using screw drive mechanism. The operators are required to command only one unit in the head, then commands for the rest of the units are automatically calculated to track the path of the preceding units. The proposed method estimates the tracking error expressed in the Frenet frame using past velocity commands in order...
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