Integral control on Lie groups

DOI10.1016/J.SYSCONLE.2015.02.009zbMATH Open1330.93128arXiv1410.7614OpenAlexW2111270566WikidataQ115340978 ScholiaQ115340978MaRDI QIDQ893985FDOQ893985

Alain Sarlette, Zhihao Ling, Zhifei Zhang

Publication date: 23 November 2015

Published in: Systems \& Control Letters (Search for Journal in Brave)

Abstract: In this paper, we extend the popular integral control technique to systems evolving on Lie groups. More explicitly, we provide an alternative definition of "integral action" for proportional(-derivative)-controlled systems whose configuration evolves on a nonlinear space, where configuration errors cannot be simply added up to compute a definite integral. We then prove that the proposed integral control allows to cancel the drift induced by a constant bias in both first order (velocity) and second order (torque) control inputs for fully actuated systems evolving on abstract Lie groups. We illustrate the approach by 3-dimensional motion control applications.

Full work available at URL: https://arxiv.org/abs/1410.7614

Recommendations

• An intrinsic PID controller for mechanical systems on Lie groups
• Motion on Lie groups and its applications in control theory.
• Motion control of drift-free, left-invariant systems on Lie groups
• Controllability of affine control systems on Lie groups
• scientific article; zbMATH DE number 4000833

zbMATH Keywords

Riemannian manifoldsLie groupsPID controlbias rejection

Mathematics Subject Classification ID

Algebraic methods (93B25) Control/observation systems in abstract spaces (93C25)

Cites Work

• Autonomous rigid body attitude synchronization
• From Kuramoto to Crawford: Exploring the onset of synchronization in population of coupled oscillators
• Motion control of drift-free, left-invariant systems on Lie groups
• Stabilization of Planar Collective Motion With Limited Communication
• Symmetry-Preserving Observers
• Gradient-Like Observers for Invariant Dynamics on a Lie Group
• Title not available (Why is that?)
• Global tracking control of underactuated ships by Lyapunov's direct method
• Coordinated Motion Design on Lie Groups
• Equilibria and steering laws for planar formations
• Passivity-Based Pose Synchronization in Three Dimensions

Cited In (11)

• Stabilisation of a relative equilibrium of an underactuated AUV on SE(3)
• Motion control of drift-free, left-invariant systems on Lie groups
• Controllability on real reductive Lie groups
• Geometric PID controller for stabilization of nonholonomic mechanical systems on Lie groups
• Null controllability on Lie groups
• Extension of PID Regulators to Dynamical Systems on Smooth Manifolds (M-PID)
• Title not available (Why is that?)
• Modified integral control globally counters symmetry-breaking biases
• Minimal control effort and time Lie-group synchronisation design based on proportional-derivative control
• An application of Lie groups in distributed control networks
• Output regulation for systems on matrix Lie-groups

This page was built for publication: Integral control on Lie groups

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q893985)