View source for Tracking for Fully Actuated Mechanical Systems: A Geometric Framework

{{HTDB paper
| authors =  Francesco Bullo and Richard M. Murray
| title = Tracking for Fully Actuated Mechanical Systems: A Geometric Framework
| source = <i>Automatica</i> 35: (1) 17-34
| year = 1999
| type = Technical Report
| funding = NSF
| url = http://www.cds.caltech.edu/~murray/preprints/bm97-cds.pdf
| 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. 
| flags = 
| filetype = 23 pages, PDF
| filesize = 329K
| tag = bm97-cds
| id = 1997a
}}