A Fibonacci control system with application to hyper-redundant manipulators

DOI10.1007/S00498-016-0167-4MaRDI QIDQ305702zbMATH OpenOpenAlexFDO

Authors Anna Chiara Lai, Pierluigi Vellucci, P. Loreti

Publication date 30 August 2016

Published in MCSS. Mathematics of Control, Signals, and Systems (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1403.2882, http://hdl.handle.net/11573/890636

zbMATH Keywords

Fibonacci sequencediscrete controlexpansions in complex basesredundant manipulatorsself-similar dynamics

Mathematics Subject Classification ID

Controllability (93B05) Attainable sets, reachability (93B03) Pole and zero placement problems (93B55) Automated systems (robots, etc.) in control theory (93C85) Fibonacci and Lucas numbers and polynomials and generalizations (11B39)

Abstract: We study a robot snake model based on a discrete linear control system involving Fibonacci sequence and closely related to the theory of expansions in non-integer bases. 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 and the relation with expansions in non-integer bases and with iterated function systems.

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Cites work

• scientific article; zbMATH DE number 3964277 (Why is no real title available?)
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Cited in

(2)

• Modeling and optimal control of an octopus tentacle
• Constrained reachability problems for a planar manipulator

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