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—In order to control gymnastic and jumping robots, we will derive the complete analytical solution to the posture control problem of a two-link free flying object with initial angular momentum. We will show that the solution involves singular control and derive formulas to calculate the optimal switching condition, optimal terminal time and optimal… (More)

A new digital control method for a time varying sampled data system called a variable period deadbeat control is proposed to control high order nonholonomic chained systems with drift terms. This control law has a potential to avoid an excessive overshoot to prevent the trajectories close to the singular manifold of the transformation needed to obtain the… (More)

In order to control gymnastic and jumping robots, we will derive the complete analytical solution to the posture control problem of a two-link free flying object with initial angular momentum. We will show that the solution involves singular control and derive formulae to calculate the optimal switching condition, optimal terminal time and optimal… (More)

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