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The spring paradigm in tracking control of simple mechanical systems

✍ Scribed by Robert Fuentes; Gregory Hicks; Jason Osborne

Publisher
Elsevier Science
Year
2011
Tongue
English
Weight
385 KB
Volume
47
Category
Article
ISSN
0005-1098

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✦ Synopsis

An intrinsic formulation of geometric proportional-derivative tracking control for fully actuated mechanical systems is developed. The region of stability is determined directly from the size of the system's injectivity radius and, for a restricted set of control problems, the system's locus of cut points about a desired reference point. Exponential stability is obtained under certain boundedness conditions. For controlled motion along a geodesic, the proffered scheme yields a particularly simple and elegant manifestation of the underlying use of the mass-spring-damper paradigm in the control design methodology.

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