Modified integral control globally counters symmetry-breaking biases

DOI10.3390/SYM11050639MaRDI QIDQ2338013zbMATH OpenOpenAlexFDO

Authors Zhihao Ling, Alain Sarlette, Zhifei Zhang

Publication date 20 November 2019

Published in Symmetry (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.3390/sym11050639

zbMATH Keywords

coordinated swarmsgeometric control theoryLie groupssymmetry breaking

Mathematics Subject Classification ID

Applications of Lie groups to the sciences; explicit representations (22E70) Robot dynamics and control of rigid bodies (70E60) Control of mechanical systems (70Q05)

Review text

Summary: We propose a modified integral controller to treat actuation biases in nonholonomic systems. In such systems, although one cannot directly counter biases along all directions, one can still aim at restoring the symmetry of coordinated motion that the biases would break. Focusing on the example of steering controlled planar vehicles, we indeed show how to perfectly stabilize a circular trajectory coordinated with the leader, despite any unknown actuation bias. The proposed solution is a simple modified integral control term, and we prove via a detailed analysis of averaging theory that this control gadget globally stabilizes the perfect coordinated motion. The corresponding general observation is that stabilizing such symmetry-preserving situation can be viewed as rejecting a bias affecting the output measurement, instead of the input command. The symmetry-restoring control then becomes an output bias rejection, dual to the more standard input bias rejection with standard integral control.

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Cited in

(2)

• Minimal control effort and time Lie-group synchronisation design based on proportional-derivative control
• Error-based control systems on Riemannian state manifolds: properties of the principal pushforward map associated to parallel transport

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