The posture control of a two-link free flying acrobot with initial angular momentum |
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Authors: | Xin Xin Mita T. Kaneda M. |
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Affiliation: | Dept. of Commun. Eng., Okayama Prefectural Univ., Japan; |
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Abstract: | This note studies the posture control problem of a two-link free flying Acrobot with nonzero initial angular momentum, where the control objective is to design an acceleration based control law such that the robot can pass through a desired posture at a given time. Based on the previous results, this posture control problem can be tackled by solving the problem of stabilizing the origin of a system obtained via an appropriate coordinate transformation. The main contribution of this note is to provide a control scheme which globally asymptotically stabilizes the origin of the system. The numerical simulations are given to validate the provided theoretical results. |
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