Title :
Landing posture control via trajectory planning for a generalized twin-body system
Author :
Yang, Yi-Ling ; Chao, Paul C P ; Sung, Cheng-Kuo
Author_Institution :
Dep. of Power Mech. Eng., Nat. Tsing Hua Univ., Hsinchu
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 PD and sliding control. The system discussed herein is the simplified model of a free-falling cellular phone with two rotational DOFs. In this paper, the governing equations of the system are first established based on the Lagrange-Euler formulation. Then, PD 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, trajectory-function, and falling height are discussed.
Keywords :
PD control; control engineering computing; control system synthesis; mathematics computing; path planning; position control; variable structure systems; Lagrange-Euler formulation; MATLAB simulations; PD control; free-falling cellular phone; generalized twin-body system; landing posture control; rotational degrees of freedom; sliding control; trajectory planning; Cellular phones; Control systems; Equations; Lagrangian functions; Mechanical engineering; Power system planning; Robot kinematics; Sliding mode control; Spine; Trajectory; Landing posture; Trajectory planning; Twin-body system;
Conference_Titel :
Autonomous Robots and Agents, 2009. ICARA 2009. 4th International Conference on
Conference_Location :
Wellington
Print_ISBN :
978-1-4244-2712-3
Electronic_ISBN :
978-1-4244-2713-0
DOI :
10.1109/ICARA.2000.4803994
