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1 Bulletin of the Polish Academy of Sciences. Technical Sciences

1 2015

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Control of a planar robot in the flight phase using transverse function approach

Pazderski D., Kozłowski K.

Bulletin of the Polish Academy of Sciences. Technical Sciences

2015

Vol. 63, nr 3

759--770

This paper deals with stabilization and tracking control problems defined with respect to a planar mechanical structure similar to Raibert’s robot. The proposed control solution is based on formal analysis of the control system on a Lie group. In order to take advantage of Lie group theory a dynamic extension of the robot kinematics is introduced. To cope with non-zero angular momentum the controller based on transverse functions is employed. Properties of the closed-loop control system are investigated based on simulations including practical stabilization at neighborhood of a constant point or a reference trajectory.