Journal
IET CONTROL THEORY AND APPLICATIONS
Volume 5, Issue 13, Pages 1484-1493Publisher
INST ENGINEERING TECHNOLOGY-IET
DOI: 10.1049/iet-cta.2010.0210
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Funding
- National Science Foundation of China [61074112]
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This study discusses the motion control of an underactuated 3-link gymnast robot moving in a vertical plane. The motion space of the robot is divided into two subspaces (swing-up area, attractive area), and a different type of motion control (swing-up control, balancing control) is applied to each. To enable efficient motion control, the swing-up area is further divided into two subspaces, and a different control law is designed for each. These two laws are employed sequentially and make the robot enter the attractive area with a suitable posture and energy. In the attractive area, the balancing-control law captures the robot and stabilises it at the straight-up equilibrium position. Simulations and a comparison demonstrate the validity of this control method.
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