DocumentCode
1743788
Title
Analytical time optimal control solution for free flying objects with drift terms
Author
Mita, Tsutomu ; Hyon, Sang-Ho ; Nam, Taek-Kun
Author_Institution
Dept. of Mech. & Control Syst., Tokyo Inst. of Technol., Japan
Volume
1
fYear
2000
fDate
2000
Firstpage
91
Abstract
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 motion is simulated
Keywords
mobile robots; spatial variables control; time optimal control; analytical time optimal control solution; drift terms; free flying objects; gymnastic robots; high diving motion; initial angular momentum; jumping robots; optimal switching condition; optimal terminal time; optimal trajectories; posture control; singular control; two-link free flying object; Animals; Artificial intelligence; Computational modeling; Control systems; Leg; Legged locomotion; Motion measurement; Optimal control; Orbital robotics; Parallel robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location
Sydney, NSW
ISSN
0191-2216
Print_ISBN
0-7803-6638-7
Type
conf
DOI
10.1109/CDC.2000.912738
Filename
912738
Link To Document