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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    Title :

    The posture control of a two-link free flying acrobot with initial angular momentum


    Contributors:
    Xin, Xin (author) / Mita, T. (author) / Kaneda, M. (author)

    Published in:

    Publication date :

    2004


    Size :

    6 Seiten, 17 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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