Trajectory tracking for fully actuated mechanical systems

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Francesco Bullo and Richard M. Murray
1997 European Control Conference

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.