Singularities of Optimal Control Problems on Some 6-D Lie Groups

DOI10.1109/TAC.2007.899010MaRDI QIDQ5282143zbMATH OpenOpenAlexWikidataFDO

Authors William Holderbaum, James Biggs, Velimir Jurdjevic

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.2007.899010

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Geometric methods (93B27)

Cited in

(6)

• Optimal under-actuated kinematic motion planning on the \(\epsilon\)-group
• Finite-time optimal formation tracking control of vehicles in horizontal plane
• Finite-time optimal tracking control for dynamic systems on Lie groups
• Finite-time optimal formation control of multi-agent systems on the Lie group SE(3)
• Control systems on the orthogonal group \(SO(4)\)
• Integrable quadratic hamiltonians on the Euclidean group of motions

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