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A Local Solution to the Output Regulation Problem for Sampled-Data Systems on Commutative Matrix Lie Groups

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Date

2018-08-16

Authors

McCarthy, Philip James
Nielsen, Christopher

Journal Title

Journal ISSN

Volume Title

Publisher

IEEE

Abstract

We present a smooth nonlinear control law for a kinematic plant on commutative matrix Lie groups that achieves regulation, if the state tracking and estimation errors are initialized in a suitable neighbourhood of identity. We show that in exponential coordinates, the closed-loop dynamics are linear. Our control law uses output feedback; to this end, we propose an almost-globally defined state estimator.

Description

McCarthy, P. J., & Nielsen, C. (2018). A Local Solution to the Output Regulation Problem for Sampled-Data Systems on Commutative Matrix Lie Groups. 2018 Annual American Control Conference (ACC), 6055–6060. https://doi.org/10.23919/ACC.2018.8431108

Keywords

Regulators, Manifolds, Computational modeling, Transmission line matrix methods, Algebra, Mathematical model, Output feedback

LC Keywords

Citation

URI

https://doi.org/10.23919/ACC.2018.8431108
 http://hdl.handle.net/10012/17504

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Waterloo Research
Electrical and Computer Engineering