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In this paper, we propose a design method of a reference-filtering-type two-degree-of-freedom control system with a structure of antiwindup feedback control in order to overcome actuator saturation problem. By using a hyperbolic tangential function as the saturation function, the time derivative of the controller output is introduced in order to construct a servo system. Thus, a linear parameter-varying...
This paper deals with twisting motion of a falling cat robot by two torque inputs around her waist. The cat robot consists of two rigid columns and has internally two actuators at the joint to generate torque inputs around the normal coordinates. This system is a nonholonomic system whose angular momentum is conserved. We obtain the Lagrange's equation of motion with nonholonomic constraint and formulate...
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