Variable constraint control of underactuated free flying robots - mechanical design and convergence

Takayuki Ikeda; Taek Kun Nam; Tsutomu Mita; Brian D.O. Anderson

Variable constraint control of underactuated free flying robots - mechanical design and convergence

Takayuki Ikeda^*, Taek Kun Nam, Tsutomu Mita, Brian D.O. Anderson

^*Corresponding author for this work

Research output: Contribution to journal › Conference article › peer-review

9 Citations (Scopus)

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.

Original language	English
Pages (from-to)	2539-2544
Number of pages	6
Journal	Proceedings of the IEEE Conference on Decision and Control
Volume	3
Publication status	Published - 1999
Externally published	Yes
Event	The 38th IEEE Conference on Decision and Control (CDC) - Phoenix, AZ, USA Duration: 7 Dec 1999 → 10 Dec 1999

Cite this

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title = "Variable constraint control of underactuated free flying robots - mechanical design and convergence",

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.",

author = "Takayuki Ikeda and Nam, \{Taek Kun\} and Tsutomu Mita and Anderson, \{Brian D.O.\}",

year = "1999",

language = "English",

volume = "3",

pages = "2539--2544",

journal = "Proceedings of the IEEE Conference on Decision and Control",

issn = "0191-2216",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "The 38th IEEE Conference on Decision and Control (CDC) ; Conference date: 07-12-1999 Through 10-12-1999",

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TY - JOUR

T1 - Variable constraint control of underactuated free flying robots - mechanical design and convergence

AU - Ikeda, Takayuki

AU - Nam, Taek Kun

AU - Mita, Tsutomu

AU - Anderson, Brian D.O.

PY - 1999

Y1 - 1999

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=0033314235&partnerID=8YFLogxK

M3 - Conference article

AN - SCOPUS:0033314235

SN - 0191-2216

VL - 3

SP - 2539

EP - 2544

JO - Proceedings of the IEEE Conference on Decision and Control

JF - Proceedings of the IEEE Conference on Decision and Control

T2 - The 38th IEEE Conference on Decision and Control (CDC)

Y2 - 7 December 1999 through 10 December 1999

ER -

Variable constraint control of underactuated free flying robots - mechanical design and convergence

Abstract

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