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
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;
Conference_Titel :
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location :
Sydney, NSW
Print_ISBN :
0-7803-6638-7
DOI :
10.1109/CDC.2000.912738
