Landing posture control via trajectory planning for a generalized twin-body system

Yi Ling Yang*, Chang-Po Chao, Cheng K. Sung

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

Abstract

For the purpose of preventing a free-falling object from damage, this study is devoted to the landing posture control via trajectory planning for a generalized twin-body system by employing the methods of PO and sliding control. The system discussed herein is the simplified model of a free-falling cellular phone with two rotational OOFs. In this paper, the governing equations of the system are first established based on the Lagrange-Euler formulation. Then, PO and sliding controllers are designed to achieve the desired landing posture. In addition, the trajectory planning is adopted to reduce the input energy. The performance of the controller is validated by MATLAB simulations, and the relations between input energy, trajectoryfunction, and falling height are discussed.

Original languageEnglish
Title of host publicationICARA 2009 - Proceedings of the 4th International Conference on Autonomous Robots and Agents
Pages97-102
Number of pages6
DOIs
StatePublished - 5 Jun 2009
Event4th International Conference on Autonomous Robots and Agents, ICARA 2009 - Wellington, New Zealand
Duration: 10 Feb 200912 Feb 2009

Publication series

NameICARA 2009 - Proceedings of the 4th International Conference on Autonomous Robots and Agents

Conference

Conference4th International Conference on Autonomous Robots and Agents, ICARA 2009
CountryNew Zealand
CityWellington
Period10/02/0912/02/09

Keywords

  • Landing posture
  • Trajectory planning
  • Twin-body system

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