欠驱动人形飞行机器人的位置和姿态控制

Gabriele Nava, Luca Fiorio, Silvio Traversaro, D. Pucci
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引用次数: 13

摘要

提出了一种喷气动力类人飞行机器人的稳定控制策略。特别是,本文的贡献涉及到一个控制框架的设计,能够跟踪期望的机器人的位置和方向轨迹,同时飞行。利用李雅普诺夫分析证明了闭环系统的渐近稳定性。以仿人机器人iCub为模型进行了仿真,验证了所提方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Position and Attitude Control of an Underactuated Flying Humanoid Robot
This paper proposes a control strategy for the stabilization of a jet-powered flying humanoid robot. In particular, the contribution of the paper concerns the design of a control framework capable of tracking a desired robot position and orientation trajectory while flying. Asymptotic stability of the closed loop system is shown by means of a Lyapunov analysis. Simulations are carried out on a model of the humanoid robot iCub to verify the soundness of the proposed approach.
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