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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.  +
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
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15 May 2016 06:20:03  +
URL
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http://www.cds.caltech.edu/~murray/preprints/bm97-cds.pdf  +
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