Tracking for Fully Actuated Mechanical Systems: A Geometric Framework
Francesco Bullo and Richard M. Murray
Automatica 35: (1) 17-34, 1999
We present a general framework for the control of Lagrangian systems with as many
inputs as degrees of freedom. Relying on the geometry of mechanical systems on manifolds,
we propose a design algorithm for the tracking problem. The notion of error function and
transport map lead to a proper definition of configuration and velocity error. These are
the crucial ingredients in designing a proportional derivative feedback and feedforward
controller. The proposed approach includes as special cases a variety of results on
control of manipulators, pointing devices and autonomous vehicles. Our design provides
particular insight into both aerospace and underwater applications where the configuration
manifold is a Lie group.
Technical Report
(23 pages, PDF, 329K)
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Richard Murray (murray@cds.caltech.edu)
Last modified: Tue Aug 30 07:42:18 2005