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Path Following for a Class of Mechanical Systems | IEEE Journals & Magazine | IEEE Xplore

Path Following for a Class of Mechanical Systems


Abstract:

Path following entails having the output of a control system approach a path and traverse it without a priori time parameterization of the motion along the path. We desig...Show More

Abstract:

Path following entails having the output of a control system approach a path and traverse it without a priori time parameterization of the motion along the path. We design path-following controllers for a class of mechanical control systems applicable to closed and nonclosed paths. Our approach uses transverse feedback linearization (TFL) to partially meet our objective by putting the system into a convenient normal form for control design. To meet the remaining control requirements, we present a method of refining the TFL normal form. Our approach is demonstrated experimentally on a five-bar robotic manipulator and in simulation on a nonminimum phase robotic manipulator with a flexible link.
Published in: IEEE Transactions on Control Systems Technology ( Volume: 21, Issue: 6, November 2013)
Page(s): 2380 - 2390
Date of Publication: 16 November 2012

ISSN Information:


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