NDLI: State and configuration feedback for almost global tracking of simple mechanical systems on a general class of Lie groups

Content Provider	IEEE Xplore Digital Library
Author	Maithripala, D.H.S. Berg, J.M. Dayawansa, W.P.
Copyright Year	2005
Description	Author affiliation: Dept. of Mech. Eng., Texas Tech Univ., Lubbock, TX, USA (Maithripala, D.H.S.; Berg, J.M.; Dayawansa, W.P.)
Abstract	We present a general intrinsic tracking controller design for fully-actuated simple mechanical systems, when the configuration space is one of a general class of Lie groups. We show that if a suitable error function can he found, then a general smooth and hounded reference trajectory may be tracked asymptotically from almost every initial condition, with locally exponential convergence. Such functions may be shown to exist on any compact Lie group, or on any product of a compact Lie group and R/sup n/. In the case of compact Lie groups, we show that the full-state feedback law composed with an exponentially convergent velocity estimator, also converges globally for almost every initial tracking error. We explicitly compute these controllers on SO(3), and simulate their performance for the axisymmetric top problem.
Sponsorship	American Automatic Control Council
Starting Page	3737
Ending Page	3742
File Size	315507
Page Count	6
File Format	PDF
ISBN	0780390989
ISSN	07431619
e-ISBN	0780390997
DOI	10.1109/ACC.2005.1470556
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-06-08
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	State feedback Mechanical systems Control systems Potential energy Trajectory Vehicle dynamics Force control Stability Mechanical engineering Mathematics
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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