View source for Trajectory tracking for fully actuated mechanical systems

{{HTDB paper
| authors = Francesco Bullo and Richard M. Murray
| title = Trajectory tracking for fully actuated mechanical systems
| source = 1997 European Control Conference
| year = 1996
| type = Conference paper
| funding = NSF
| url = http://www.cds.caltech.edu/~murray/preprints/bm97-ecc.pdf
| abstract = 
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.

| flags = NoRequest
| tag = bm97-ecc
| id = 1996m
}}