Landing Posture Control via Trajectory Planning for a Generalized Twin-body System

Abstract

For the purpose of preventing a free-failing object from damage, this study is devoted to the landing posture control via trajectory planning for a generalized twin-body system by employing the methods of PD and sliding control. The system discussed herein is the simplified model of a free-failing cellular phone with two rotational DOFs. In this paper, the governing equations of the system are first established based on the Lagrange-Euler formulation. Then, PD and sliding controllers are designed to achieve the desired landing posture. In addition, the trajectory planning is adopted to reduce the input energy. The performance of the controller is validated by MATLAB simulations, and the relations between input energy, trajectory-function, and falling height are discussed.