Work

Model Predictive Tracking Control for Invariant Systems on Matrix Lie Groups via Stable Embedding Into Euclidean Spaces

Year: 2019

Type: article

Abstract: For controller design for systems on manifolds embedded in Euclidean space, it is convenient to utilize a theory that requires a single global coordinate system on the ambient Euclidean space rather than multiple local charts on the manifold or coordinate-free tools from differential geometry. In this article, we apply such a theory to design model predictive tracking controllers for systems whose dynamics evolve on manifolds and illustrate its efficacy with the fully actuated rigid body attitude control system.

Source: IEEE Transactions on Automatic Control

DOI: 10.1109/tac.2019.2946231

Authors: Dong Eui Chang, Karmvir Singh Phogat, Jongeun Choi

Institution: Yonsei University

Language: English

Topic: Advanced Control Systems Optimization

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

Funders: National Research Foundation of Korea, Korea Advanced Institute of Science and Technology

Awards: G1453517808, G4473467146