https://murray.cds.caltech.edu/index.php?action=history&feed=atom&title=Trajectory_tracking_for_fully_actuated_mechanical_systems 2026-09-22T18:14:14Z Revision history for this page on the wiki MediaWiki 1.44.2 https://murray.cds.caltech.edu/index.php?title=Trajectory_tracking_for_fully_actuated_mechanical_systems&diff=20020&oldid=prev 2016-05-15T06:20:12Z

<p>htdb2wiki: creating page for 1996m_bm97-ecc.html</p> <p><b>New page</b></p><div>{{HTDB paper<br /> | authors = Francesco Bullo and Richard M. Murray<br /> | title = Trajectory tracking for fully actuated mechanical systems<br /> | source = 1997 European Control Conference<br /> | year = 1996<br /> | type = Conference paper<br /> | funding = NSF<br /> | url = http://www.cds.caltech.edu/~murray/preprints/bm97-ecc.pdf<br /> | abstract = <br /> This paper presents a general framework for the control of mechanical<br /> systems with as many inputs as degrees of freedom. The notes of error<br /> functions and transport map are introduced to properly define a configuration<br /> and velocity error. These are the crucial ingredients in designing a <br /> proportional derivative feedback and feedforward control. The proposed<br /> approach includes various results on control of manipulators, autonomous<br /> vehicles and pointing devices.<br /> <br /> | flags = NoRequest<br /> | tag = bm97-ecc<br /> | id = 1996m<br /> }}</div>

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