A Local Solution to the Output Regulation Problem for Sampled-Data Systems on Commutative Matrix Lie Groups
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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.
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Philip James McCarthy, Christopher Nielsen (2018). A Local Solution to the Output Regulation Problem for Sampled-Data Systems on Commutative Matrix Lie Groups. UWSpace. http://hdl.handle.net/10012/17504