Output Regulation for Systems on Matrix Lie-group

Abstract : This paper deals with the problem of output regulation for systems defined on matrix Lie-Groups. Reference trajectories to be tracked are supposed to be generated by an exosystem, defined on the same Lie-Group of the controlled system, and only partial relative error measurements are supposed to be available. These measurements are assumed to be invariant and associated to a group action on a homogeneous space of the state space. In the spirit of the internal model principle the proposed control structure embeds a copy of the exosystem kinematic. This control problem is motivated by many real applications fields in aerospace, robotics, projective geometry, to name a few, in which systems are defined on matrix Lie-groups and references in the associated homogenous spaces.
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Autre publication
See the abstract. 2016
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Contributeur : Tarek Hamel <>
Soumis le : dimanche 5 juin 2016 - 19:03:48
Dernière modification le : mercredi 23 janvier 2019 - 10:29:26

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  • HAL Id : hal-01326789, version 1
  • ARXIV : 1603.03372


Simone De Marco, Lorenzo Marconi, Tarek Hamel, Rober Mahony. Output Regulation for Systems on Matrix Lie-group. See the abstract. 2016. 〈hal-01326789〉



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