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dc.contributor.authorMcCarthy, Philip James
dc.contributor.authorNielsen, Christopher
dc.date.accessioned2021-09-23 19:25:33 (GMT)
dc.date.available2021-09-23 19:25:33 (GMT)
dc.date.issued2021-02-09
dc.identifier.urihttps://doi.org/10.1109/TAC.2021.3058053
dc.identifier.urihttp://hdl.handle.net/10012/17506
dc.descriptionMccarthy, P. J., & Nielsen, C. (2021). Global Sampled-Data Regulation of a Class of Fully Actuated Invariant Systems on Simply Connected Nilpotent Matrix Lie Groups. IEEE Transactions on Automatic Control, 1–1. https://doi.org/10.1109/TAC.2021.3058053en
dc.description.abstractWe examine a regulator problem for a class of fully actuated continuous-time invariant systems on Lie groups, using a discrete-time controller with constant sampling period. We present a smooth discrete-time control law that achieves global regulation on simply connected nilpotent Lie groups. We first solve the problem when both the plant state and exosystem state are available for feedback, then in the case where the plant state and plant output are available for feedback. The class of plant outputs considered includes, for example, the quantity to be regulated. This class of output allows us to use the classical Luenberger observer to estimate the exosystem states. In the full-information case, the regulation quantity on the Lie algebra is shown to decay exponentially to zero, which implies that it tends asymptotically to the identity on the Lie group.en
dc.description.sponsorshipFunder 1, Partially supported by the Ontario Graduate Scholarship (OGS) || Funder 2,Supported by the Natural Sciences and Engineering Research Council of Canada (NSERC).en
dc.language.isoenen
dc.publisherIEEEen
dc.relation.ispartofseriesIEEE Transactions on Automatic Control;
dc.subjectRegulatorsen
dc.subjectRegulationen
dc.subjectAlgebraen
dc.subjectStability analysisen
dc.subjectAsymptotic stabilityen
dc.subjectTrajectoryen
dc.subjectMathematical modelen
dc.titleGlobal Sampled-Data Regulation of a Class of Fully Actuated Invariant Systems on Simply Connected Nilpotent Matrix Lie Groupsen
dc.typeArticleen
dcterms.bibliographicCitationMccarthy, P. J., & Nielsen, C. (2021). Global Sampled-Data Regulation of a Class of Fully Actuated Invariant Systems on Simply Connected Nilpotent Matrix Lie Groups. IEEE Transactions on Automatic Control, 1–1. https://doi.org/10.1109/TAC.2021.3058053en
uws.contributor.affiliation1Faculty of Engineeringen
uws.contributor.affiliation2Electrical and Computer Engineeringen
uws.typeOfResourceTexten
uws.peerReviewStatusRevieweden
uws.scholarLevelFacultyen


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