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Path following of a class of underactuated mechanical systems via immersion and invariance-based orbital stabilization
[article]
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
arXiv:2001.10325v1
fatcat:3bwl5hxzrbdqbeag3v3i4lti74