Path following via kinetic-potential energy shaping

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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