A Novel Passivity-Based Trajectory Tracking Control For Conservative Mechanical Systems
A Novel Passivity-Based Trajectory Tracking Control For Conservative Mechanical Systems
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Ithaca: Cornell University Library, arXiv.org
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English
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Ithaca: Cornell University Library, arXiv.org
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Contents
Most passivity based trajectory tracking algorithms for mechanical systems can only stabilise reference trajectories that have constant energy. This paper overcomes this limitation by deriving a single variable Hamiltonian model for the reference trajectory and solving along the constrained trajectory to obtain a reference potential. This potential...
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Full title
A Novel Passivity-Based Trajectory Tracking Control For Conservative Mechanical Systems
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TN_cdi_proquest_journals_2556541368
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https://devfeature-collection.sl.nsw.gov.au/record/TN_cdi_proquest_journals_2556541368
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E-ISSN
2331-8422
DOI
10.48550/arxiv.2107.13761
