Variable constraint control of underactuated free flying robots - mechanical design and convergence
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Ikeda, Takayuki
Nam, Taek Kun
Mita, Tsutomu
Anderson, Brian D.O.
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Abstract
A new control method for underactuated nonlinear systems called a variable constraint control (VCC) will be proposed. In this control method, the first integral obtained by adding control constraints is used as an invariant manifold. The results will be applied to the posture control problems of free flying robots and relations between convergence of the control and structural parameters of robots are discussed.
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Proceedings of the IEEE Conference on Decision and Control
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