Limit-cycle-like control for planar space robot models with initial angular momenta |
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Institution: | Department of Electrical Engineering, Faculty of Information Science and Electrical Engineering, Kyushu University, Japan |
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Abstract: | In this paper, we develop a new control strategy on limit cycles for planar space robot models with initial angular momenta. First, we state our problem formulation, and give some concepts and assumptions. Next, we derive a controller that generates a desired stable limit-cycle-like behavior for general two-dimensional nonlinear control systems, which is called limit-cycle-like control. We then give two kinds of specific forms of the controller and investigate some characteristics of them. After that, we apply the limit-cycle-like control methods to a control problem of a planar space robot model with an initial angular momentum, and some simulations are carried out in order to demonstrate the effectiveness of our new methods. |
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