| dc.contributor.author | McCarthy, Philip James | |
| dc.contributor.author | Nielsen, Christopher | |
| dc.date.accessioned | 2021-09-23 19:18:32 (GMT) | |
| dc.date.available | 2021-09-23 19:18:32 (GMT) | |
| dc.date.issued | 2018-08-16 | |
| dc.identifier.uri | https://doi.org/10.23919/ACC.2018.8431108 | |
| dc.identifier.uri | http://hdl.handle.net/10012/17504 | |
| dc.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 | en |
| dc.description.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. | en |
| dc.description.sponsorship | Funder 1, Supported by the Ontario Graduate Scholarship (OGS) || Funder 2, Supported by the Natural Sciences and Engineering Research Council of Canada (NSERC). | en |
| dc.language.iso | en | en |
| dc.publisher | IEEE | en |
| dc.relation.ispartofseries | Annual American Control Conference (ACC); | |
| dc.subject | Regulators | en |
| dc.subject | Manifolds | en |
| dc.subject | Computational modeling | en |
| dc.subject | Transmission line matrix methods | en |
| dc.subject | Algebra | en |
| dc.subject | Mathematical model | en |
| dc.subject | Output feedback | en |
| dc.title | A Local Solution to the Output Regulation Problem for Sampled-Data Systems on Commutative Matrix Lie Groups | en |
| dc.type | Conference Paper | en |
| dcterms.bibliographicCitation | 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 | en |
| uws.contributor.affiliation1 | Faculty of Engineering | en |
| uws.contributor.affiliation2 | Electrical and Computer Engineering | en |
| uws.typeOfResource | Text | en |
| uws.peerReviewStatus | Reviewed | en |
| uws.scholarLevel | Faculty | en |
