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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Yokozawa, T. Hara, S. Ishikawa, M. |
| Copyright Year | 2000 |
| Description | Author affiliation: Tokyo Inst. of Technol., Japan (Yokozawa, T.) |
| Abstract | This paper proposes an optimal control strategy for a jumping robot system based on the complementarity modeling. We consider a variable constraint jumping system consisting of a robot part and an environment (catapult) part. Such a system can be efficiently modeled as a complementarity system, in the sense that the discontinuous phenomena such as collision or separation are handled in a unified framework. First, we give a simple criterion to judge the contact/taking-off condition based on the complementarity modeling. Next, we formulate an optimal control problem to maximize the peak height in a jump and give a numerical solution; due to the pre-specified input limitation, the resulting control is of bang-bang type. Finally, the optimal controller is analytically reconsidered and is implemented as a switching state feedback law. |
| Starting Page | 3132 |
| Ending Page | 3137 |
| File Size | 587631 |
| Page Count | 6 |
| File Format | |
| ISBN | 0780366387 |
| ISSN | 01912216 |
| DOI | 10.1109/CDC.2000.912178 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2000-12-12 |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Optimal control Robot sensing systems State feedback Equations Mechanical systems Motion control Aerospace engineering Position control Logic Mathematical programming |
| Content Type | Text |
| Resource Type | Article |
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