Path following via kinetic-potential energy shaping
Path following via kinetic-potential energy shaping
复制标题
通过动势能量整形进行路径跟踪
DOI：
10.1109/cdc42340.2020.9303974
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发表时间：
2020
期刊：
影响因子：
--
通讯作者：
Fujimoto Kenji
中科院分区：
文献类型：
--
作者：
Ferguson Joel;Shima Ryotaro;Fujimoto Kenji
在本文中，我们考虑的问题，路径跟踪控制的全驱动机械系统的动力学势能成形（KPES）技术。通过使用KPES，阻尼被注入到闭环系统的位置误差坐标，导致指数收敛到所需的path.It示出的技术可以被解释为一个广义的正则变换和结果被证明在一个简单的机械系统以下的单位圆与非恒定速度。
In this paper we consider the problem of path following control for fully-actuated mechanical systems using the technique of kinetic-potential energy shaping (KPES). By using KPES, damping is injected into the position error coordinates of the closed-loop systems, resulting in exponential convergence to the desired path. It is shown that the technique can be interpreted as a generalised canonical transformation and the results are demonstrated on a simple mechanical system following a unit circle with a non-constant velocity.