Stabilization and tracking for fully actuated systems
In this chapter we design feedback control laws for simple mechanical control systems with dissipation. We assume that the system is fully actuated and that the control set is unbounded throughout the chapter. Our approach builds on the proportional-derivative control designs presented in the previous chapter, but we are able to obtain stronger results by exploiting the full actuation. We provide a comprehensive solution to the problems of stabilization of controlled equilibrium configurations and tracking of reference trajectories.
Unable to display preview. Download preview PDF.