We study a model for snake-like robots based on the Fibonacci sequence. The present paper includes an investigation of the reachable workspace, a more general analysis of the control system underlying the model, its reachability and local controllability properties. In addition, we establish some fractal properties of the reachable workspace by means the theory of iterated function systems.

A Fibonacci control system with application to hyper-redundant manipulators / Lai, ANNA CHIARA; Loreti, Paola; Vellucci, Pierluigi. - In: MATHEMATICS OF CONTROL SIGNALS AND SYSTEMS. - ISSN 0932-4194. - 28:2(2016), pp. 1-32. [10.1007/s00498-016-0167-4]

A Fibonacci control system with application to hyper-redundant manipulators

LAI, ANNA CHIARA;LORETI, Paola;VELLUCCI, PIERLUIGI
2016

Abstract

We study a model for snake-like robots based on the Fibonacci sequence. The present paper includes an investigation of the reachable workspace, a more general analysis of the control system underlying the model, its reachability and local controllability properties. In addition, we establish some fractal properties of the reachable workspace by means the theory of iterated function systems.
Discrete control; Expansions in complex bases; Fibonacci sequence; Redundant manipulators; Self-similar dynamics; Control and Systems Engineering; Signal Processing; Control and Optimization; Applied Mathematics
01 Pubblicazione su rivista::01a Articolo in rivista
A Fibonacci control system with application to hyper-redundant manipulators / Lai, ANNA CHIARA; Loreti, Paola; Vellucci, Pierluigi. - In: MATHEMATICS OF CONTROL SIGNALS AND SYSTEMS. - ISSN 0932-4194. - 28:2(2016), pp. 1-32. [10.1007/s00498-016-0167-4]
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/890636
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