Almost-Global Tracking of Simple Mechanical Systems on a General Class of Lie Groups

DOI10.1109/TAC.2005.862219zbMath1366.93406OpenAlexW2124228020WikidataQ115264829 ScholiaQ115264829MaRDI QIDQ5281750

W. P. Dayawansa, Jordan M. Berg, Diogu Hennedige Sanjeeva Maithripala

Publication date: 27 July 2017

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1109/tac.2005.862219

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05)

Related Items

Nonlinear Robust Tracking Control of a Quadrotor UAV on SE(3), Geometric control of two quadrotors carrying a rigid rod with elastic cables, Almost-global tracking for a rigid body with internal rotors, Structure preserving reduced attitude control of gyroscopes, Coordinated tracking for multiple nonholonomic vehicles on SE(2), A geodesic feedback law to decouple the full and reduced attitude, Almost global attitude stabilization of a rigid body for both internal and external actuation schemes, Nonlinear hierarchical control for quad-rotors with rotation matrix, Finite‐time rotation‐matrix‐based tracking control for autonomous underwater vehicle with input saturation and actuator faults, A GES attitude observer with single vector observations, Exact solutions to a class of feedback systems on \(\mathsf{SO}(n)\), Attitude control via a feedback integrator based observer, Synergistic potential functions from single modified trace function on SO(3), Exponential stability of an attitude tracking control system on SO(3) for large-angle rotational maneuvers, An intrinsic PID controller for mechanical systems on Lie groups, Logarithmic control, trajectory tracking, and formation for nonholonomic vehicles on Lie group SE(2), The geometric convexity on SE(3) and its application to the formation tracking in multi-vehicle systems, Finite-Time Optimal Tracking Control for Dynamic Systems on Lie Groups, Intrinsic optimal control for mechanical systems on Lie group, Finite-time formation tracking control for multiple vehicles: A motion planning approach, 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, Robust adaptive sliding mode tracking control for a rigid body based on Lie subgroups of \(\mathrm{SO}(3)\), Output feedback control for rigid-body attitude with constant disturbances