Posture Control of A 3-link Acrobot By Angular Velocity Input: Control Strategy Based On Constraint of Joint Angles
This paper deals with an aerial posture control problem of a 3-link free-flying robot with nonzero initial angular momentum. First, the law of conservation of angular momentum is shown, and a state equation based on two angular velocity inputs is derived for a 3-link free-flying robot. Next, the con...
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| Veröffentlicht in: | TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 2004/12/25, Vol.70(700), pp.3493-3500 |
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| container_title | TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C |
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| creator | HATTORI, Kunio YAMAURA, Hiroshi |
| description | This paper deals with an aerial posture control problem of a 3-link free-flying robot with nonzero initial angular momentum. First, the law of conservation of angular momentum is shown, and a state equation based on two angular velocity inputs is derived for a 3-link free-flying robot. Next, the control strategy which consists of two steps is proposed. The first step of the strategy is to control two joint angles and the second step of the strategy is to control three angles by feedback controller under the inphase constraint of the joint angles. In particular, the feedback control law of the second step is derived by the backstepping technique which guarantees Lyapunov stability by time-varying gains. Finally, simulation results are presented to show validity of the proposed control strategy. |
| doi_str_mv | 10.1299/kikaic.70.3493 |
| format | Article |
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First, the law of conservation of angular momentum is shown, and a state equation based on two angular velocity inputs is derived for a 3-link free-flying robot. Next, the control strategy which consists of two steps is proposed. The first step of the strategy is to control two joint angles and the second step of the strategy is to control three angles by feedback controller under the inphase constraint of the joint angles. In particular, the feedback control law of the second step is derived by the backstepping technique which guarantees Lyapunov stability by time-varying gains. 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First, the law of conservation of angular momentum is shown, and a state equation based on two angular velocity inputs is derived for a 3-link free-flying robot. Next, the control strategy which consists of two steps is proposed. The first step of the strategy is to control two joint angles and the second step of the strategy is to control three angles by feedback controller under the inphase constraint of the joint angles. In particular, the feedback control law of the second step is derived by the backstepping technique which guarantees Lyapunov stability by time-varying gains. Finally, simulation results are presented to show validity of the proposed control strategy.</abstract><pub>The Japan Society of Mechanical Engineers</pub><doi>10.1299/kikaic.70.3493</doi><tpages>8</tpages><oa>free_for_read</oa></addata></record> |
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| identifier | ISSN: 0387-5024 |
| ispartof | Transactions of the Japan Society of Mechanical Engineers Series C, 2004/12/25, Vol.70(700), pp.3493-3500 |
| issn | 0387-5024 1884-8354 |
| language | eng ; jpn |
| recordid | cdi_crossref_primary_10_1299_kikaic_70_3493 |
| source | J-STAGE Free; EZB-FREE-00999 freely available EZB journals |
| subjects | Acrobot Backstepping Constraint of Joint Angles Nonholonomic Constraint Time-Varying Gain Underactuated System |
| title | Posture Control of A 3-link Acrobot By Angular Velocity Input: Control Strategy Based On Constraint of Joint Angles |
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