Contributions to tracking control for mechanical systems on SE(2)

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	Contributions to tracking control for mechanical systems on SE(2)
	Tayefi, Morteza ; Geng, Zhiyong ; Sun, Junyong
	2015
DOI	10.1109/ChiCC.2015.7259698
英文摘要	Compared to rich achievements for fully-actuated systems, intrinsic tracking control of underactuated systems is certainly a big challenge. In this paper, the problem is formulated by considering the natural configuration space for planar rigid bodies, the Special Euclidean group SE(2). First, we formulate the problem and implement a trajectory tracking control, which is well developed for fully-actuated systems on Lie groups based on navigation or error functions. Our new contribution is to propose error functions in some new variables compatible with the underactuation properties of the system and to design position tracking control according to the gradient vector field of these functions. To accomplish this task the gradient vector field is also weighted with some adaptable gains. We present some stability analyses and simulation results to support the approach. ? 2015 Technical Committee on Control Theory, Chinese Association of Automation.; EI; 575-580; 2015-September
会议录	34th Chinese Control Conference, CCC 2015
语种	英语
内容类型	会议论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/423488]
专题	工学院
推荐引用方式 GB/T 7714	Tayefi, Morteza,Geng, Zhiyong,Sun, Junyong. Contributions to tracking control for mechanical systems on SE(2)[C]. 见:.