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dc.contributor.authorYang, Eileen Chih-Yingen_US
dc.contributor.authorChao, Paul C. -P.en_US
dc.contributor.authorSung, Cheng-Kuoen_US
dc.date.accessioned2014-12-08T15:12:04Z-
dc.date.available2014-12-08T15:12:04Z-
dc.date.issued2011-03-01en_US
dc.identifier.issn1063-6536en_US
dc.identifier.urihttp://dx.doi.org/10.1109/TCST.2010.2046902en_US
dc.identifier.urihttp://hdl.handle.net/11536/9258-
dc.description.abstractControl over landing posture can effectively prevent structural damage when a portable device is accidentally dropped. Given size and cost constraints, the number of actuators should be limited. This paper presents an optimal posture control method that allows an under-actuated system to land with the desired posture. A simplified model of a portable computer/telephone is considered, comprising two rigid bodies and an active joint. The objective is to minimize the input torque produced by the actuator to achieve the desired posture. A two-point boundary value problem is formulated; i.e., the initial and final angular positions and velocities are predetermined, and the inequality constraints are established on the basis of the capacity of the actuator and acceptable level of state variables. In the numerical analysis, the backward-sweep algorithm is applied to determine the appropriate Lagrange multiplier, and the falling dynamics are explored using MATLAB. The optimal controller design is presented, together with simulation results confirming that the system is capable of performing landing posture control with minimum input torque.en_US
dc.language.isoen_USen_US
dc.subjectNonlinear dynamicsen_US
dc.subjectposture controlen_US
dc.subjectunder-actuatoren_US
dc.titleOptimal Control of an Under-Actuated System for Landing With Desired Posturesen_US
dc.typeArticleen_US
dc.identifier.doi10.1109/TCST.2010.2046902en_US
dc.identifier.journalIEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGYen_US
dc.citation.volume19en_US
dc.citation.issue2en_US
dc.citation.spage248en_US
dc.citation.epage255en_US
dc.contributor.department電控工程研究所zh_TW
dc.contributor.departmentInstitute of Electrical and Control Engineeringen_US
dc.identifier.wosnumberWOS:000287655400002-
dc.citation.woscount1-
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