Title :
Periodic control for a blimp-like dynamical robot
Author :
Zhang, Hong ; Ostrowski, James P.
Abstract :
We present a control algorithm to control underactuated mechanical systems that evolve in the configuration space with the fiber bundle structure. We show that by using the geometric tools such as symmetric product and small amplitude periodic forcing, we can develop unique techniques to control the underactuated dynamic system, such as an unmanned blimp.
Keywords :
Lie algebras; aerospace robotics; mobile robots; periodic control; robot dynamics; blimp-like dynamical robot; configuration space; geometric tools; periodic control; underactuated mechanical systems; unmanned blimp; Control systems; Controllability; Lagrangian functions; Leg; Mechanical systems; Nonlinear control systems; Open loop systems; Orbital robotics; Robots; Shape;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.933142
