An intrinsic PID controller for mechanical systems on Lie groups

DOI10.1016/J.AUTOMATICA.2015.01.005MaRDI QIDQ490824zbMATH OpenOpenAlexWikidataFDO

Authors J. M. Berg, D. H. S. Maithripala

Publication date 21 August 2015

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.automatica.2015.01.005

zbMATH Keywords

Lie groupsmechanical systemsPID controlalmost global stabilityquadrotorsrigid-body

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Feedback control (93B52) Algebraic methods (93B25)

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Cites work

• scientific article; zbMATH DE number 4133575 (Why is no real title available?)
• A topological obstruction to continuous global stabilization of rotational motion and the unwinding phenomenon
• Almost-Global Tracking of Simple Mechanical Systems on a General Class of Lie Groups
• Global positioning of robot manipulators via PD control plus a class of nonlinear integral actions
• Intrinsic Observer-Based Stabilization for Simple Mechanical Systems on Lie Groups
• Non-Linear Symmetry-Preserving Observers on Lie Groups
• Nonlinear Complementary Filters on the Special Orthogonal Group
• Quaternion-Based Hybrid Control for Robust Global Attitude Tracking
• Rigid Body Attitude Control Using a Single Vector Measurement and Gyro
• The existence of polar non-degenerate functions on differentiable manifolds
• The geometry of physics. An introduction
• Tracking for fully actuated mechanical systems: A geometric framework

Cited in

(19)

• Integral control on Lie groups
• Global robust attitude tracking with torque disturbance rejection via dynamic hybrid feedback
• Barankin, McAulay-Seidman and Cramér-Rao bounds on matrix Lie groups
• Geometric PID controller for stabilization of nonholonomic mechanical systems on Lie groups
• Intrinsic Control Designs for Abstract Machines
• Trajectory tracking control of thrust-vectoring UAVs
• Geometric tracking on \(\mathcal{S}^3\) based on sliding mode control
• Modified integral control globally counters symmetry-breaking biases
• Synergistic potential functions from single modified trace function on SO(3)
• Intrinsic Observer-Based Stabilization for Simple Mechanical Systems on Lie Groups
• Extension of a PID control theory to Lie groups applied to synchronising satellites and drones
• Extension of PID regulators to dynamical systems on smooth manifolds (M-PID)
• Almost-global tracking for a rigid body with internal rotors
• Semi-globally exponential trajectory tracking for a class of spherical robots
• Intrinsic optimal control for mechanical systems on Lie group
• A coordinate-free approach to tracking for simple mechanical systems on Lie groups
• A geometric approach to position tracking control of a nonholonomic planar rigid body: case study of an underwater vehicle
• A new geometric trajectory tracking controller for the unicycle mobile robot
• Output regulation for systems on matrix Lie-groups

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