Vector-field guided constraint-following control for path following of uncertain mechanical systems
Systems and Control
2026-03-17 v2 Systems and Control
Abstract
This note proposes a general control approach, called vector-field guided constraint-following control, to solve the dynamics control problem of geometric path-following for a class of uncertain mechanical systems. More specifically, it operates at the dynamics level and can handle both fully-actuated and underactuated mechanical systems, heterogeneous (possibly fast) time-varying uncertainties with unknown bounds, and geometric desired paths that may be self-intersecting. Simulations are conducted to demonstrate the effectiveness of the approach.
Keywords
Cite
@article{arxiv.2603.09472,
title = {Vector-field guided constraint-following control for path following of uncertain mechanical systems},
author = {Hui Yin and Xiang Li and Yifan Liu and Weijia Yao},
journal= {arXiv preprint arXiv:2603.09472},
year = {2026}
}