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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. California Institute of Technology . (Unpublished)

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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.

Item Type:Report or Paper (Technical Report)
Murray, Richard M.0000-0002-5785-7481
Group:Control and Dynamical Systems Technical Reports
Record Number:CaltechCDSTR:1997.CIT-CDS-97-003
Persistent URL:
Usage Policy:You are granted permission for individual, educational, research and non-commercial reproduction, distribution, display and performance of this work in any format.
ID Code:28008
Deposited By: Imported from CaltechCDSTR
Deposited On:15 Oct 2002
Last Modified:18 Mar 2015 23:21

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