A control algorithm to control underactuated mechanical systems evolving the configuration space with fiber bundle structure was discussed. A periodic control algorithm based on small-amplitude cyclic input was analyzed on blimp-like dynamical robots. It was shown that using small amplitude periodic forcing and symmetric product tools unique techniques to control the underactuated dynamic systems can be developed.
|Number of pages
|Proceedings - IEEE International Conference on Robotics and Automation
|Published - 2001
All Science Journal Classification (ASJC) codes
- Artificial Intelligence
- Electrical and Electronic Engineering
- Control and Systems Engineering