劣駆動ロボットにおける不安定周期運動の軌道安定化と時間同期
Orbital Stabilization and Time Synchronization of Unstable Periodic Motions in Underactuated Robots
劣駆動ロボットの周期軌道を安定化しつつ時間同期を実現する制御法を提案し、6台のButterflyロボットで集中・分散制御を実験検証した。
著者: Surov Maksim
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
This paper presents a control methodology for achieving orbital stabilization with simultaneous time synchronization of periodic trajectories in underactuated robotic systems. The proposed approach extends the classical transverse linearization framework to explicitly incorporate time-desynchronization dynamics. To stabilize the resulting extended transverse dynamics, we employ a combination of time-varying LQR and sliding-mode control. The theoretical results are validated experimentally through the implementation of both centralized and decentralized control strategies on a group of six Butterfly robots.