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Trajectory tracking for fully actuated mechanical systems
Abstract This paper presents a general framework fo …
This paper presents a general framework for the control of mechanical systems with as many inputs as degrees of freedom. The notes of error functions and transport map are introduced to properly define a configuration and velocity error. These are the crucial ingredients in designing a proportional derivative feedback and feedforward control. The proposed approach includes various results on control of manipulators, autonomous vehicles and pointing devices.
autonomous vehicles and pointing devices.  +
Authors Francesco Bullo and Richard M. Murray  +
Flags NoRequest  +
ID 1996m  +
Source 1997 European Control Conference  +
Tag bm97-ecc  +
Title Trajectory tracking for fully actuated mechanical systems +
Type Conference paper  +
Categories Papers
Modification date
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15 May 2016 06:20:12  +
URL
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http://www.cds.caltech.edu/~murray/preprints/bm97-ecc.pdf  +
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Trajectory tracking for fully actuated mechanical systems + Title
 

 

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