@inproceedings{06e4d066cf924ed295c70d47b794c315,
title = "Parametric Design of Controller for Cube Robot Based on Fully Actuated System Approach",
abstract = "Cube robot is a kind of complex nonlinear system with strong coupling and underactuated characteristics. In this study, we first employ the classical Lagrange equations and incorporate the concept of generalized momentum to establish a dynamic model for the cubic robot. The system's attitude information is described using centroid vectors and gravitational vectors. Building upon this foundation, we employ a fully actuated system approach to design a closed-loop system capable of arbitrary pole placement. This framework enables the development of a state feedback controller, where controller parameters are systematically tuned and optimized through parametric design principles. Finally, the physical construction of the cube robot is completed, and the experiment is designed according to the built equipment. The correctness and effectiveness of the control method are verified by the experimental data.",
keywords = "Balance Control, Cube Robot, Dynamics Modeling, Fully Actuated System Approach, Parametric Design",
author = "Wang, \{Zi Xun\} and Duan, \{Guang Ren\} and Ping Li",
note = "Publisher Copyright: {\textcopyright} 2025 IEEE.; 4th Conference on Fully Actuated System Theory and Applications, FASTA 2025 ; Conference date: 04-07-2025 Through 06-07-2025",
year = "2025",
doi = "10.1109/FASTA65681.2025.11138773",
language = "英语",
series = "Proceedings of the 4th Conference on Fully Actuated System Theory and Applications, FASTA 2025",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1805--1810",
booktitle = "Proceedings of the 4th Conference on Fully Actuated System Theory and Applications, FASTA 2025",
address = "美国",
}