DocumentCode
3233472
Title
Periodic control for a blimp-like dynamical robot
Author
Zhang, Hong ; Ostrowski, James P.
Volume
4
fYear
2001
fDate
2001
Firstpage
3396
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-6576-3
Type
conf
DOI
10.1109/ROBOT.2001.933142
Filename
933142
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