Parametric Design of Controller for Cube Robot Based on Fully Actuated System Approach

Cube robot is a kind of complex nonlinear system with strong coupling and underactuated characteristics. In this study, we first employ the classical Lagrange equations and incorporate the concept of generalized momentum to establish a dynamic model for the cubic robot. The system's attitude information is described using centroid vectors and gravitational vectors. Building upon this foundation, we employ a fully actuated system approach to design a closed-loop system capable of arbitrary pole placement. This framework enables the development of a state feedback controller, where controller parameters are systematically tuned and optimized through parametric design principles. Finally, the physical construction of the cube robot is completed, and the experiment is designed according to the built equipment. The correctness and effectiveness of the control method are verified by the experimental data.