Path following of a class of underactuated mechanical systems via immersion and invariance-based orbital stabilization [article]

Bowen Yi, Romeo Ortega, Ian R. Manchester, Houria Siguerdidjane
2020 arXiv   pre-print
This paper aims to provide a new problem formulation of path following for mechanical systems without time parameterization nor guidance laws, namely, we express the control objective as an orbital stabilization problem. It is shown that, it is possible to adapt the immersion and invariance technique to design static state-feedback controllers that solve the problem. In particular, we select the target dynamics adopting the recently introduced Mexican sombrero energy assignment method. To
more » ... trate the effectiveness of the proposed method we apply it to control underactuated marine surface vessels.
arXiv:2001.10325v1 fatcat:3bwl5hxzrbdqbeag3v3i4lti74