Robust Control Synthesis and Verification for Wire-Borne Underactuated Brachiating Robots Using Sum-of-Squares Optimization
Siavash Farzan,Ai-Ping Hu,Michael Bick,Jonathan Rogers,Siavash Farzan,Ai-Ping Hu,Michael Bick,Jonathan Rogers
Control of wire-borne underactuated brachiating robots requires a robust feedback control design that can deal with dynamic uncertainties, actuator constraints and unmeasurable states. In this paper, we develop a robust feedback control for brachiating on flexible cables, building on previous work on optimal trajectory generation and time-varying LQR controller design. We propose a novel simplifie...
