Path-following funnel control for rigid-link revolute-joint robotic systems
作者： Christoph M. Hackl , Timm Faulwasser
DOI:
关键词: Control theory 、 A priori and a posteriori 、 Funnel 、 Revolute joint 、 Robot 、 Engineering 、 Path (graph theory) 、 Feature (computer vision) 、 Tracking (particle physics) 、 Control engineering 、 Control theory
摘要: In this paper we investigate the application of funnel control to unconstrained path-following problems. While is a high-gain based time-varying feedback strategy applicable minimum-phase systems with known relative degree, path following refers problem tracking reference in an output space. A particular feature that timing along not determined priori. The adjusted online by controller and may be exploited improve performance. We show combination fully-actuated rigid-link revolute-joint robots.
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