This paper considers guidance-based motion controlof planar snake robots using a dynamic feedback controllaw. We first present the Euler-Lagrange equations of motionof the robot. Subsequently, we introduce a dynamic feedbackcontrol law for the joints of the robot to track a desiredgait pattern. This tracking control law depends on the timeevolution of the state variables of a dynamic compensatorwhich is used for controlling the orientation of the robot. In particular, we employ the dynamic compensator to practically stabilize a reference head angle defined by a Line-of-Sight path following guidance law. Using an input-output stability analysis, we show the uniform boundedness of the solutions of the controlled system. Furthermore, we use a perturbationanalysis to show that the orientation error is ultimately bounded by an arbitrarily small bound. Simulation results are presented to validate the theoretical results.
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