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On Almost-Global Tracking for a Certain Class of Simple Mechanical Systems.
- Source :
- IEEE Transactions on Automatic Control; Jan2019, Vol. 64 Issue 1, p412-419, 8p
- Publication Year :
- 2019
-
Abstract
- In this paper, we propose a control law for the almost-global asymptotic tracking (AGAT) of a smooth reference trajectory for a fully actuated simple mechanical system (SMS) evolving on a Riemannian manifold that can be embedded in a Euclidean space. The existing results on tracking for an SMS are either local, or almost global, only in the case the manifold is a Lie group. In the latter case, the notion of a configuration error is naturally defined by the group operation and facilitates a global analysis. However, such a notion is not intrinsic to a Riemannian manifold. In this paper, we define a configuration error followed by error dynamics on a Riemannian manifold, and then, prove the AGAT. The results are demonstrated for a spherical pendulum, which is an SMS on $S^2$ and for a particle moving on a Lissajous curve in $\mathbb {R}^3$. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 00189286
- Volume :
- 64
- Issue :
- 1
- Database :
- Complementary Index
- Journal :
- IEEE Transactions on Automatic Control
- Publication Type :
- Periodical
- Accession number :
- 133722141
- Full Text :
- https://doi.org/10.1109/TAC.2018.2833046