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This paper considers path following control of snake robots along straight paths. A controller is proposed which, under the assumption that the forward velocity of the snake robot is nonzero and positive, guarantees K-exponential stability of the distance between the snake robot and the desired path and also K-exponential stability of the heading of the robot with respect to the direction of the path...
Lateral vibration and hunting is a known phenomenon in dynamics of railway vehicles. In this paper critical velocity of conventional bogie is investigated. The conventional bogie consists of two wheelsets with two degrees of freedom and one frame with one degree of freedom. The forward velocity is assumed constant and bogie travels in straight line. Contact forces are calculated by linear Kalker's...
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