Related papers: Coordinated motion design on Lie groups
The usefulness in control theory of the geometric theory of motion on Lie groups and homogeneous spaces will be shown. We quickly review some recent results concerning two methods to deal with these systems, namely, a generalization of the…
This paper presents a generalization of conventional sliding mode control designs for systems in Euclidean spaces to fully actuated simple mechanical systems whose configuration space is a Lie group for the trajectory-tracking problem. A…
We consider the problem of cooperative motion coordination for multiple heterogeneous mobile vehicles subject to various constraints. These include nonholonomic motion constraints, constant speed constraints, holonomic coordination…
This paper proposes a methodology to stabilize relative equilibria in a model of identical, steered particles moving in three-dimensional Euclidean space. Exploiting the Lie group structure of the resulting dynamical system, the…
Matched pairs of Lie groupoids and Lie algebroids are studied. Discrete Euler-Lagrange equations are written for the matched pairs of Lie groupoids. As such, a geometric framework to analyse a discrete system by decomposing it into two…
In this paper, we extend the control contraction metrics (CCM) approach, which was originally proposed for the universal tracking control of nonlinear systems, to those that evolves on Lie groups. Our idea is to view the manifold as a…
Various soliton-obstruction systems have been studied from analytical perspective. We have used collective coordinate to approach the dynamics of solitons as they meet a potential obstruction in a form of square barriers and holes for three…
In this paper, we extend the popular integral control technique to systems evolving on Lie groups. More explicitly, we provide an alternative definition of "integral action" for proportional(-derivative)-controlled systems whose…
This paper formulates optimal control problems for rigid bodies in a geometric manner and it presents computational procedures based on this geometric formulation for numerically solving these optimal control problems. The dynamics of each…
Mechanical control systems such as aerial, marine, space, and terrestrial robots often naturally admit a state-space that has the structure of a Lie group. The kinetic energy of such systems is commonly invariant to the induced action by…
This article describes the control behavior of any linear control systems on the group of proper motions $SE(2)$. It characterizes the controllability property and the control sets of the system.
Most of the rigid-body systems which evolve on nonlinear Lie groups where Euclidean control designs lose geometric meaning. In this paper, we introduce a log-linear backstepping control law on SE2(3) that preserves full…
Group contraction is an algebraic map that relates two classes of Lie groups by a limiting process. We utilize this notion for the compactification of the class of Cartan motion groups. The compactification process is then applied to reduce…
We propose a general framework to contract unitary dual of Lie groups via holomorphic quantization of their co-adjoint orbits. The sufficient condition for the contractability of a representation is expressed via cocycles on coadjoint…
Algebraic geometry for groups and Lie algebraic has been recently defined and studied by many authors on the purpose to study set defined by algebraic equations on abstract groups and Lie algebras. The purpose of this paper is to present a…
In this survey, we present a geometric description of Lagrangian and Hamiltonian Mechanics on Lie algebroids. The flexibility of the Lie algebroid formalism allows us to analyze systems subject to nonholonomic constraints, mechanical…
In this paper, we examine Lie group actions on moduli spaces (sets themselves built as quotients by group actions) and their fixed points. We show that when the Lie group is compact and connected, we obtain a linear constraint. This…
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only…
We consider left-invariant optimal control problems on connected Lie groups such that generic stabilizer of the coadjoint action is connected and has dimension not more than 1. We introduce a construction for symmetries of the exponential…
This text presents some basic notions in symplectic geometry, Poisson geometry, Hamiltonian systems, Lie algebras and Lie groups actions on symplectic or Poisson manifolds, momentum maps and their use for the reduction of Hamiltonian…