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Passivity-Based Control of Sampled-Data Systems on Lie Groups with Linear Outputs

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dc.contributor.authorMcCarthy, Philip James
dc.contributor.authorNielsen, Christopher
dc.date.accessioned2021-09-23T13:15:03Z
dc.date.available2021-09-23T13:15:03Z
dc.date.issued2016-12-22
dc.descriptionThe final publication is available at Elsevier via http://dx.doi.org/https://doi.org/10.1016/j.ifacol.2016.10.299. © 2016. This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/en
dc.description.abstractWe present a method of stabilizing a sampled-data system that evolves on a matrix Lie group using passivity. The continuous-time plant is assumed passive with known storage function, and its passivity is preserved under sampling by redefining the output of the discretized plant and keeping the storage function. We show that driftlessness is a necessary condition for a sampled-data system on a matrix Lie group to be zero-state observable. The closed-loop sampled-data system is stabilized by any strictly passive controller, and we present a synthesis procedure for a strictly positive real LTI controller. The closed-loop system is shown to be asymptotically stable. This stabilization method is applied to asymptotic tracking of piecewise constant references.en
dc.description.sponsorshipThis research is supported by the Natural Sciences and Engineering Research Council of Canada (en
dc.identifier.urihttps://doi.org/10.1016/j.ifacol.2016.10.299
dc.identifier.urihttp://hdl.handle.net/10012/17486
dc.language.isoenen
dc.publisherElsevieren
dc.relation.ispartofseriesIFAC-PapersOnLine;
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.subjectnonlinear controlen
dc.subjectdiscrete-time systemsen
dc.subjectstabilizationen
dc.subjectLie groupsen
dc.subjectpassivityen
dc.titlePassivity-Based Control of Sampled-Data Systems on Lie Groups with Linear Outputsen
dc.typeArticleen
dcterms.bibliographicCitationMcCarthy, P. J., & Nielsen, C. (2016). Passivity-Based Control of Sampled-Data Systems on Lie Groups with Linear Outputs**This research is supported by the h Council of Canada (NSERC). IFNatural Sciences and Engineering ResearcAC-PapersOnLine, 49(18), 1006–1011. https://doi.org/10.1016/j.ifacol.2016.10.299en
uws.contributor.affiliation1Faculty of Engineeringen
uws.contributor.affiliation2Electrical and Computer Engineeringen
uws.peerReviewStatusRevieweden
uws.scholarLevelFacultyen
uws.typeOfResourceTexten

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