Juraj Lieskovský, Hijiri Akahane, Jaroslav Bušek, Ikuo Mizuuchi, Tomáš VyhlídalThis paper concerns itself with the optimal control of a single-link brachiation robot, specifically two phases during which the energy of the system is progressively increased to reach branches at a further distance. Two control policies are described. First is a time-optimal policy utilizing impulses of force. The second policy is an approximation of the first, taking into account inaccuracies of the model and actuators with limited torque. Both control policies are validated through simulations and a setup for experimental validation is also described.
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The state-exam topics have been updated
The state-exam topics for the state final exams have been updated (State exams).
In this article, a control design method is presented for stability optimization of time-delay systems combined with cancellation of vibration frequencies at […]
The paper presents a controller design for systems suffering from multi-harmonic periodic disturbance and substantial input time-delay. It forms an alternative approach […]
Fig. 1 Experiment without inverse shaper References  Dan Pilbauer, Wim Michiels, Tomáš Vyhlídal, Martin Hromčík, Mixed-sensitivity design of a dynamic controller […]