Practical Universal Tracking With Pivoted Unidirectional Actuation
Systems and Control
2026-04-08 v1 Systems and Control
Abstract
This paper addresses the problem of tracking control for robotic vehicles equipped with pivoted unidirectional actuators. Starting from a baseline robust controller that assumes unconstrained inputs, we redesign the control law to be compatible with the pivoted actuator. This is accomplished by driving the output of the pivoted actuator to a ball centered at the target input value. The guarantees for the baseline controller are recovered in a practical sense. The theory is illustrated with simulation examples.
Cite
@article{arxiv.2604.05979,
title = {Practical Universal Tracking With Pivoted Unidirectional Actuation},
author = {Ian J. Willebeek-LeMair and Craig A. Woolsey},
journal= {arXiv preprint arXiv:2604.05979},
year = {2026}
}
Comments
8 pages, 5 figures, Submitted to the 65th IEEE Conference on Decision and Control. This work has been submitted to the IEEE for possible publication