Invariant feedback control for the kinematic car on the sphere

DOI10.1016/J.SYSCONLE.2012.06.008MaRDI QIDQ360682zbMATHOpenAlexFDO

Authors J. Rudolph, C. Collon

Publication date 27 August 2013

Published in Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1203.3904

zbMATH Keywords

symmetryobserverLie groupinvariant controlkinematic car

Mathematics Subject Classification ID

Observability (93B07) Feedback control (93B52) Application models in control theory (93C95) Algebraic methods (93B25)

Abstract: The design of an invariant tracking control law for the kinematic car driving on a sphere is discussed. Using a Lie group framework a left-invariant description on SO(3) is derived. Basic geometric considerations allow a direct comparison of the model with the usual planar case. Exploiting the Lie group structure an invariant tracking error is defined and a feedback is designed. Finally, one possible design of an invariant asymptotic observer is sketched.

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• Invariant feedback design for control systems with Lie symmetries -- a kinematic car example

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