浮遊ロボットの姿勢制御

トルク入力の導出と時変ゲインによる最大トルクの低減

抄録

In this paper, we discuss an aerial posture control problem of a 2-link acrobat robot with nonzero initial angular momentum. First, the equations of motion and the law of conservation of angular momentum are shown. Next, we derive a strict feedback system in order to apply a backstepping procedure by a 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 a backstepping procedure to the system. In the control law, there are free gains which decide convergence speed of Lyapunov function. Constant gains and time-variant gains are examined. Then, it is shown that time-variant gains are useful in terms of control performance and input efficiency. Finally, we present simulation results to show validity of the Proposed controller.