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Tracking for Fully Actuated Mechanical Systems: A Geometric Framework |
Abstract |
We present a general framework for the con … 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. the configuration
manifold is a Lie group. +
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Authors | Francesco Bullo and Richard M. Murray + |
ID | 1997a + |
Source | <i>Automatica</i> 35: (1) 17-34 + |
Tag | bm97-cds + |
Title | Tracking for Fully Actuated Mechanical Systems: A Geometric Framework + |
Type | Technical Report + |
Categories | Papers |
Modification date This property is a special property in this wiki.
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15 May 2016 06:20:03 + |
URL This property is a special property in this wiki.
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http://www.cds.caltech.edu/~murray/preprints/bm97-cds.pdf + |
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Tracking for Fully Actuated Mechanical Systems: A Geometric Framework + | Title |
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