Torque-based aerial posture control of a two-link acrobat robot

摘要

This paper deals with an aerial posture control problem of a two-link acrobat robot with non-zero initial angular momentum. Firstly, a strict feedback system is derived from the equations of motion and the law of conservation of angular momentum of a two-link aerial acrobat robot. The torque acting on the joint of the robot is chosen as the control input of the strict-feedback system. Secondly, a control law based on the backstepping technique is developed. Finally, simulation results show the validity of the proposed control scheme. A trade-off relation between the maximum driving torque and the final posture error and two different motions of the serial robot are discussed.