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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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dc.contributor.authorMcCarthy, Philip James
dc.contributor.authorNielsen, Christopher
dc.date.accessioned2021-09-23T19:18:32Z
dc.date.available2021-09-23T19:18:32Z
dc.date.issued2018-08-16
dc.descriptionMcCarthy, 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.2018.8431108en
dc.description.abstractWe 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.sponsorshipFunder 1, Supported by the Ontario Graduate Scholarship (OGS) || Funder 2, Supported by the Natural Sciences and Engineering Research Council of Canada (NSERC).en
dc.identifier.urihttps://doi.org/10.23919/ACC.2018.8431108
dc.identifier.urihttp://hdl.handle.net/10012/17504
dc.language.isoenen
dc.publisherIEEEen
dc.relation.ispartofseriesAnnual American Control Conference (ACC);
dc.subjectRegulatorsen
dc.subjectManifoldsen
dc.subjectComputational modelingen
dc.subjectTransmission line matrix methodsen
dc.subjectAlgebraen
dc.subjectMathematical modelen
dc.subjectOutput feedbacken
dc.titleA Local Solution to the Output Regulation Problem for Sampled-Data Systems on Commutative Matrix Lie Groupsen
dc.typeConference Paperen
dcterms.bibliographicCitationMcCarthy, 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.2018.8431108en
uws.contributor.affiliation1Faculty of Engineeringen
uws.contributor.affiliation2Electrical and Computer Engineeringen
uws.peerReviewStatusRevieweden
uws.scholarLevelFacultyen
uws.typeOfResourceTexten

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