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Autre Publication Scientifique Année : 2016

Output Regulation for Systems on Matrix Lie-group

Résumé

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.

Dates et versions

hal-01326789 , version 1 (05-06-2016)

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Simone de Marco, Lorenzo Marconi, Tarek Hamel, Rober Mahony. Output Regulation for Systems on Matrix Lie-group. 2016. ⟨hal-01326789⟩
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