Trajectory tracking for actuator arrays

Actuator arrays are planar arrangements of two degree-of-freedom actuators that cooperatively translate and orient objects for efficient manipulation. This paper describes a trajectory tracking control law for macroscopic actuator arrays and its convergence properties. The control law is designed based on the kinematics of an object on the array. Its convergence properties are found using a direct solution of the Kalman-Yakubovich-Popov equations. Simulations show the control law's effectiveness and that the bounds are very conservative for objects under stick-slip contact