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

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3 Author(s)
Xin Xin ; Dept. of Commun. Eng., Okayama Prefectural Univ., Japan ; T. Mita ; M. Kaneda

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.

Published in:

IEEE Transactions on Automatic Control  (Volume:49 ,  Issue: 7 )