Invariant feedback control for the kinematic car on the sphere
Optimization and Control
2012-03-20 v1
Abstract
The design of an invariant tracking control law for the kinematic car driving on a sphere is discussed. Using a Lie group framework a left-invariant description on SO(3) is derived. Basic geometric considerations allow a direct comparison of the model with the usual planar case. Exploiting the Lie group structure an invariant tracking error is defined and a feedback is designed. Finally, one possible design of an invariant asymptotic observer is sketched.
Keywords
Cite
@article{arxiv.1203.3904,
title = {Invariant feedback control for the kinematic car on the sphere},
author = {Carsten Collon and Joachim Rudolph},
journal= {arXiv preprint arXiv:1203.3904},
year = {2012}
}