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

DOI10.1109/TAC.2005.862219MaRDI QIDQ5281750zbMATH OpenOpenAlexWikidataFDO

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

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

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

Cited in

(30)

• Geometric PID controller for stabilization of nonholonomic mechanical systems on Lie groups
• A geodesic feedback law to decouple the full and reduced attitude
• Nonlinear Robust Tracking Control of a Quadrotor UAV on SE(3)
• Finite‐time rotation‐matrix‐based tracking control for autonomous underwater vehicle with input saturation and actuator faults
• Geometric tracking on \(\mathcal{S}^3\) based on sliding mode control
• A GES attitude observer with single vector observations
• Quaternion-based attitude stabilization using synergistic hybrid feedback with minimal potential functions
• Finite-time optimal tracking control for dynamic systems on Lie groups
• Nonlinear hierarchical control for quad-rotors with rotation matrix
• Synergistic potential functions from single modified trace function on SO(3)
• Intrinsic Observer-Based Stabilization for Simple Mechanical Systems on Lie Groups
• Almost global attitude stabilization of a rigid body for both internal and external actuation schemes
• Exponential stability of an attitude tracking control system on SO(3) for large-angle rotational maneuvers
• A reduced-order Lie group-based race car model for systematic trajectory optimization on 3D tracks
• 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
• Attitude control via a feedback integrator based observer
• Output feedback control for rigid-body attitude with constant disturbances
• Exact solutions to a class of feedback systems on \(\mathsf{SO}(n)\)
• Intrinsic optimal control for mechanical systems on Lie group
• Finite-time formation tracking control for multiple vehicles: a motion planning approach
• The geometric convexity on SE(3) and its application to the formation tracking in multi-vehicle systems
• A geometric approach to position tracking control of a nonholonomic planar rigid body: case study of an underwater vehicle
• An intrinsic PID controller for mechanical systems on Lie groups
• Logarithmic control, trajectory tracking, and formation for nonholonomic vehicles on Lie group \(\mathrm{SE}(2)\)
• A new geometric trajectory tracking controller for the unicycle mobile robot
• Coordinated tracking for multiple nonholonomic vehicles on SE(2)
• On Almost-Global Tracking for a Certain Class of Simple Mechanical Systems
• Robust adaptive sliding mode tracking control for a rigid body based on Lie subgroups of \(\mathrm{SO}(3)\)

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