- Title
- Path following via kinetic-potential energy shaping
- Creator
- Ferguson, Joel; Shima, Ryotaro; Fujimoto, Kenji
- Relation
- 2020 59th IEEE Conference on Decision and Control (CDC). Proceedings of the 2020 59th IEEE Conference on Decision and Control (CDC) (Jeju Island, Republic of Korea 14-12-2020) p. 763-768
- Publisher Link
- http://dx.doi.org/10.1109/CDC42340.2020.9303974
- Publisher
- Institute of Electrical and Electronic Engineers (IEEE)
- Resource Type
- conference paper
- Date
- 2020
- Description
- In this paper we consider the problem of path following control for fully-actuated mechanical systems using the technique of kinetic-potential energy shaping (KPES). By using KPES, damping is injected into the position error coordinates of the closed-loop systems, resulting in exponential convergence to the desired path. It is shown that the technique can be interpreted as a generalised canonical transformation and the results are demonstrated on a simple mechanical system following a unit circle with a non-constant velocity.
- Subject
- standards; manifolds; mechanical systems; regulation; damping; convergence; tuning
- Identifier
- http://hdl.handle.net/1959.13/1449071
- Identifier
- uon:43565
- Identifier
- ISBN:9781728174471
- Language
- eng
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