
Ein vereinheitlichter, intrinsischer Regler ermöglicht fast globales, asymptotisches Bahnverfolgen für vollständig aktuierte mechanische Systeme auf breiteren Mannigfaltigkeiten.


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fast-global-asymptotic-trajectory-tracking-for-fully-actuated-mechanical-systems-on-homogeneous-riemannian-manifolds


Fast Global Asymptotic Trajectory Tracking for Fully-Actuated Mechanical Systems on Homogeneous Riemannian Manifolds


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The author proposes a systematic tracking controller for fully-actuated mechanical systems on homogeneous Riemannian manifolds, ensuring almost global asymptotic trajectory tracking from any initial condition.


unified-tracking-controller-for-mechanical-systems-on-homogeneous-manifolds


Unified Tracking Controller for Mechanical Systems on Homogeneous Manifolds
