Model Predictive Tracking Control for Invariant Systems on Matrix Lie Groups via Stable Embedding into Euclidean Spaces

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For controller design for systems on manifolds embedded in Euclidean space, it is convenient to utilize a theory that requires a single global coordinate system on the ambient Euclidean space rather than multiple local charts on the manifold or coordinate-free tools from differential geometry. In this article, we apply such a theory to design model predictive tracking controllers for systems whose dynamics evolve on manifolds and illustrate its efficacy with the fully actuated rigid body attitude control system.
Publisher
IEEE
Issue Date
2020-07
Language
English
Article Type
Article
Citation

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, v.65, no.7, pp.3191 - 3198

ISSN
0018-9286
DOI
10.1109/TAC.2019.2946231
URI
http://hdl.handle.net/10203/275577
Appears in Collection
EE-Journal Papers(저널논문)
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