17th International Symposium on
Mathematical Theory of Networks and Systems
Kyoto International Conference Hall, Kyoto, Japan, July 24-28, 2006

MTNS 2006 Paper Abstract

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Paper TuP07.1

Fuentes, Robert (Boeing-SVS, Inc.), Hicks, Gregory (General Dynamics), Osborne, Jason (North Carolina State Univ.)

Intrinsic Control Design for Abstract Machines

Scheduled for presentation during the Regular Session "Control of Mechanical Systems" (TuP07), Tuesday, July 25, 2006, 15:20−15:45, Room H

17th International Symposium on Mathematical Theory of Networks and Systems, July 24-28, 2006, Kyoto, Japan

This information is tentative and subject to change. Compiled on June 23, 2024

Keywords Algebraic and differential geometry, Control of nonlinear systems, Stability analyisis

Abstract

A geodesic-based formulation of geometric PD tracking control for fully actuated mechanical systems is derived from the Riemannian metric. The region of stability is determined directly from the size of the injectivity radius and, for a restricted set of control problems, the locus of cut points about a desired reference point in the manifold. Exponential stability is proven for controlled motion along a geodesic, yielding a particularly simple, yet elegant, methodology for control design.