The aerial posture control of a horizontal bar robot : Control law of the driving torque

Abstract

In this paper, we discuss an aerial posture control problem of a 2-link horizontal bar robot with nonzero initial angular momentum in order to realize an acrobatic motion of the horizontal bar. First, the equations of motion and the law of conservation of angular momentum are shown. Next, we derive a strict feedback system to be able to apply backstepping procedure by coordinate transformation. Then the control problem is formulated as designing a control law such that the state variables of the system go to the origin at a given time. We design a controller of the driving torque by applying backstepping procedure to the system. Finally, we present simulation results to validate the controller.