@inproceedings{54b968ac34d74c39ac66d81cf34b129c,
title = "Two-Relay Controller and Its Application in Snake-Like Robot Motion: An Infinite-Dimensional Setting",
abstract = "We proposed a self-oscillation control and its application to the locomotion of a robotic snake system whose model is governed by a partial differential equation. The dynamics of the snake were represented as a one-dimensional hyperbolic partial differential equation. Studies have demonstrated that the motion of a snake on a surface or in the water is like a wave. A boundary two-relay controller was used to induce the self-oscillation in the snake-like robot. We proved, by proposing a strict Lyapunov functional, the asymptotical stability of the closed-loop system. We corroborated the theoretical results by numerical simulations. The results constitute a first step in using a two-relay controller in infinite-dimensional systems.",
keywords = "Boundary control, distributed parameter systems, self-oscillations, snake locomotion",
author = "Aguilar, {Luis T.}",
note = "Publisher Copyright: {\textcopyright} 2021 American Automatic Control Council.; 2021 American Control Conference, ACC 2021 ; Conference date: 25-05-2021 Through 28-05-2021",
year = "2021",
month = may,
day = "25",
doi = "10.23919/ACC50511.2021.9483166",
language = "Ingl{\'e}s",
series = "Proceedings of the American Control Conference",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "4087--4092",
booktitle = "2021 American Control Conference, ACC 2021",
address = "Estados Unidos",
}