Analytical time optimal control solution for a two-link planar aerobot with initial angular momentum
نویسندگان
چکیده
In order to control gymnastic and jumping robots, we will derive the complete analytical solution to the posture control problem of a two-link free flying object with initial angular momentum. We will show that the solution involves singular control and derive formulas to calculate the optimal switching condition, optimal terminal time and optimal trajectories. As an application, a high diving motion is simulated.
منابع مشابه
Analytical Time Optimal Control Solution for a 2 Link Free Flying Acrobots
In order to control gymnastic and jumping robots, we will derive the complete analytical solution to the posture control problem of a two-link free flying object with initial angular momentum. We will show that the solution involves singular control and derive formulae to calculate the optimal switching condition, optimal terminal time and optimal trajectories. As an application, a high diving ...
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ورودعنوان ژورنال:
- IEEE Trans. Robotics and Automation
دوره 17 شماره
صفحات -
تاریخ انتشار 2001