Exponentially Stable Regulation of Mechanical Systems to a Path

Title: Exponentially Stable Regulation of Mechanical Systems to a Path
Creator: O'Brien, Thomas; Ferguson, Joel; Donaire, Alejandro
Relation: 22nd IFAC World Congress. Proceedings of the 22nd IFAC World Congress: Proceedings [presented in IFAC-PapersOnLine, Vol 56 (2)] (Yokohama, Japan 09-14 July, 2023) p. 6801-6806
Publisher Link: http://dx.doi.org/10.1016/j.ifacol.2023.10.389
Publisher: Elsevier
Resource Type: conference paper
Date: 2023
Description: In this paper we consider the problem of path following control for fully-actuated mechanical systems using the technique of total energy shaping. To this end, a closed-loop potential function is designed which is minimised along the desired path. In addition, the kinetic energy is shaped to ensure that the trajectories of the system converge exponentially to the desired path. The design method is applied to a 2-DOF robotic manipulator and simulations are presented to demonstrate the closed-loop performance.
Subject: Lagrangian and Hamiltonian systems; trajectory tracking and path following; Lyapunov methods; motion control; stability of nonlinear systems
Identifier: http://hdl.handle.net/1959.13/1502335
Identifier: uon:55223
Identifier: ISBN:9781713872344
Language: eng
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