Abstract

In this paper, we present a joint controller for stabilizing a swimming gait for underwater snake robots. The controller is based on energy-shaping control, and it is shown to render the gait exponentially orbitally stable for a range of control parameters. In addition to shaping the energy of each joint oscillation, the phase differences between them are stabilized to a desired phase shift. The result is a set of synchronized, shifted oscillations, constituting the swimming gait. Furthermore, a simulation study is conducted, in which the proposed controller is found to exhibit significantly greater robustness to disturbances than an existing joint controller from the literature.

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