The content discusses the development of a unified tracking controller for fully-actuated mechanical systems evolving on various homogeneous spaces. The approach guarantees almost global convergence to reference trajectories and is applied to examples like an axisymmetric satellite and an omnidirectional aerial robot. The method involves intrinsic state-valued tracking errors, horizontal lifts of curves, and navigation functions. Theoretical results are supported by mathematical background and practical applications.
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by Jake Welde,V... a las arxiv.org 03-11-2024
https://arxiv.org/pdf/2403.04900.pdfConsultas más profundas