A coordinate-free approach to tracking for simple mechanical systems on Lie groups

DOI10.1007/10984413_14MaRDI QIDQ3069313zbMATH OpenOpenAlexFDO

Authors W. P. Dayawansa, D. H. S. Maithripala, J. M. Berg

Publication date 25 January 2011

Published in New Directions and Applications in Control Theory (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/10984413_14

Mathematics Subject Classification ID

Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85) Stabilization of systems by feedback (93D15)

Recommendations

• Intrinsic Observer-Based Stabilization for Simple Mechanical Systems on Lie Groups
• An intrinsic PID controller for mechanical systems on Lie groups
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Cited in

(9)

• Regression on Lie Groups and Its Application to Affine Motion Tracking
• On controller design for systems on manifolds in Euclidean space
• Intrinsic optimal control for mechanical systems on Lie group
• An intrinsic PID controller for mechanical systems on Lie groups
• Periodic trajectory tracking for control-affine driftless systems on compact Lie groups
• Control of mechanical systems on Lie groups based on vertically transverse functions
• Least squares tracking on the Euclidean group
• On Almost-Global Tracking for a Certain Class of Simple Mechanical Systems
• Output regulation for systems on matrix Lie-groups

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