A Fibonacci control system with application to hyper-redundant manipulators

DOI10.1007/S00498-016-0167-4zbMATH Open1342.93082arXiv1403.2882OpenAlexW2213329679MaRDI QIDQ305702FDOQ305702

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)

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.

Full work available at URL: https://arxiv.org/abs/1403.2882

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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)

Cites Work

• Representations for real numbers and their ergodic properties
• On theβ-expansions of real numbers
• Robot's finger and expansions in non-integer bases
• Title not available (Why is that?)
• Controllability for discrete systems with a finite control set
• Title not available (Why is that?)
• Developments in non-integer bases
• Geometrical aspects of expansions in complex bases
• Title not available (Why is that?)
• Title not available (Why is that?)
• Title not available (Why is that?)
• Robot's hand and expansions in non-integer bases
• Expansions in Complex Bases

Cited In (2)

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

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