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Journal of Automation and Information Sciences

Publication de 12  numéros par an

ISSN Imprimer: 1064-2315

ISSN En ligne: 2163-9337

SJR: 0.173 SNIP: 0.588 CiteScore™:: 2

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Problem of Control of Spatial Motion of a Hopping Device

Volume 35, Numéro 10, 2003, 10 pages
DOI: 10.1615/JAutomatInfScien.v35.i10.70
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RÉSUMÉ

We consider the problem of synthesis of the control system of spatial motion of a hopping device. The device consists of a heavy body and weightless leg fastened at the gravity center of the body. The leg is considered as a kinematics, which links are connected by rotational and translational joints. Synthesis of the system of stabilization is realized within the frame of periodic linear quadratic problem. Effectiveness of the synthesized regulator is shown on the example of change of direction of motion.

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