Geometric PID controller for stabilization of nonholonomic mechanical systems on Lie groups

DOI10.1016/J.AUTOMATICA.2024.111658zbMATH Open1545.93089MaRDI QIDQ6566744FDOQ6566744

Authors: Rama Seshan Chandrasekaran, Ravi N. Banavar, Arun D. Mahindrakar, D. H. S. Maithripala 

Publication date: 3 July 2024

Published in: Automatica (Search for Journal in Brave)

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zbMATH Keywords

geometric mechanicsLie groupsnonholonomic systemsnonlinear controlgeometric methodsLagrangian mechanicsroboticsPID controller

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Nonlinear systems in control theory (93C10) Asymptotic stability in control theory (93D20) Geometric methods (93B27)

Cites Work

• Nonlinear Complementary Filters on the Special Orthogonal Group
• The geometry of physics. An introduction
• Quaternion-Based Hybrid Control for Robust Global Attitude Tracking
• Global positioning of robot manipulators via PD control plus a class of nonlinear integral actions
• Tracking for fully actuated mechanical systems: A geometric framework
• Title not available (Why is that?)
• Intrinsic Observer-Based Stabilization for Simple Mechanical Systems on Lie Groups
• The existence of polar non-degenerate functions on differentiable manifolds
• Almost-Global Tracking of Simple Mechanical Systems on a General Class of Lie Groups
• An intrinsic PID controller for mechanical systems on Lie groups
• Integral control on Lie groups
• Controller Class for Rigid Body Tracking on $\mathsf {SO}(3)$
• Geometric Controllability and Stabilization of Spherical Robot Dynamics

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