Path following controller design for a class of mechanical systems
نویسندگان
چکیده
We present an approach to designing feedback controllers that solve a path following control problem for a large class of mechanical systems. Our approach involves set stabilization via transverse feedback linearization: a coordinate and feedback transformation that yields a normal form convenient for control design making desired path attractive. Our approach also involves refining the normal form by imposing additional structure on the system, such that the dynamics governing the output motion along the path are linear and controllable. This approach amounts to local input-output feedback linearization for a particular choice of “virtual output”. We present necessary and sufficient checkable conditions for the particular virtual output to yield a well-defined relative degree. When these conditions hold, it is possible to put the mechanical system in the desired normal form, simplifying path following controller design.
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