Tracking for Fully Actuated Mechanical Systems: A Geometric Framework

Bullo, Francesco and Murray, Richard M. (1997) Tracking for Fully Actuated Mechanical Systems: A Geometric Framework. Technical Report. California Institute of Technology. [CaltechCDSTR:1997.CIT-CDS-97-003]

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Abstract

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.

EPrint Type:	Monograph (Technical Report)
Subjects:	All Records
ID Code:	9
Deposited By:	Richard M. Murray
Deposited On:	15 October 2002
Unique Identifier:	CaltechCDSTR:1997.CIT-CDS-97-003
Official Persistent URL:	http://resolver.caltech.edu/CaltechCDSTR:1997.CIT-CDS-97-003
Usage Policy:	You are granted permission for individual, educational, research and non-commercial reproduction, distribution, display and performance of this work in any format.

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