Centrala begrepp
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.
Sammanfattning
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.
Statistik
"almost global convergence"
"fully-actuated mechanical systems"
"homogeneous Riemannian manifolds"
"axisymmetric satellite"
"omnidirectional aerial robot"
Citat
"The transitivity of a Lie group’s action on the configuration manifold is useful for tracking control via error regulation in mechanical systems."
"Methods which do not rely on reduction to regulation often fail to achieve or certify almost global convergence."
"Our results illustrate that it is the transitivity of a Lie group's action on the configuration manifold that is useful for tracking control."