Path following for mechanical systems: Experiments and examples

@article{Hladio2011PathFF,
  title={Path following for mechanical systems: Experiments and examples},
  author={Andre Hladio and Christopher Nielsen and David Wai-Lok Wang},
  journal={Proceedings of the 2011 American Control Conference},
  year={2011},
  pages={551-556}
}
This paper concerns the design of path following controllers for mechanical systems. Our method is to find a coordinate and feedback transformation that puts the mechanical system in a convenient form for path following control design. In this form, linear and controllable subsystems govern motions toward and along the path. We choose a particular "virtual output" to perform input-output feedback linearization, and characterize when this virtual output can be used. We apply this technique to a… CONTINUE READING

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