Periodic control for a blimp-like dynamical robot

Hong Zhang, James P. Ostrowski

Research output: Contribution to journalArticlepeer-review

5 Scopus citations

Abstract

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.

Original languageEnglish (US)
Pages (from-to)3396-3401
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume4
DOIs
StatePublished - Jan 1 2001

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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