Related papers: Output Regulation for Systems on Matrix Lie-group
Left-invariant optimal control problems on Lie groups form an important class of problems with big symmetry group. They are interesting from the theoretical point of view since they often can be completely studied, and general features can…
This paper introduces a systematic method for designing robust linear controllers using output feedback in the presence of operational constraints. The design uses Nagumo's Theorem and the Comparison Lemma to guarantee constraint…
In this paper, the problem of tracking a given reference output trajectory is investigated for the class of Boolean control networks, by resorting to their algebraic representation. First, the case of a finite-length reference trajectory is…
Errors dynamics captures the evolution of the state errors between two distinct trajectories, that are governed by the same system rule but initiated or perturbed differently. In particular, state observer error dynamics analysis in matrix…
We study control systems invariant under a Lie group with application to the problem of nonlinear trajectory planning. A theory of symmetry reduction of exterior differential systems is employed to demonstrate how symmetry reduction and…
This paper presents a unified approach for inverse and direct dynamics of constrained multibody systems that can serve as a basis for analysis, simulation, and control. The main advantage of the formulation of the dynamic is that it does…
Trajectory tracking of nonlinear dynamical systems with affine open-loop controls is investigated. The control task is to enforce the system state to follow a prescribed desired trajectory as closely as possible. We introduce exactly…
This paper investigates the linear output regulation problem with both the exosystem and the plant fully unknown. A data-driven regulator is proposed to achieve asymptotic regulation and closed-loop stability without performing model…
This paper studies the event-triggered cooperative global robust output regulation problem for a class of nonlinear multi-agent systems via a distributed internal model design. We show that our problem can be solved practically in the sense…
We present a novel first order controller for systems evolving on matrix Lie groups, a major use case of which is Cartesian velocity control on robot manipulators. This controller achieves global exponential trajectory tracking on a number…
This work proposes a data-driven regulator design that drives the output of a nonlinear system asymptotically to a time-varying reference and rejects time-varying disturbances. The key idea is to design a data-driven feedback controller…
This paper concerns the problem of adaptive output regulation for multivariable nonlinear systems in normal form. We present a regulator employing an adaptive internal model of the exogenous signals based on the theory of nonlinear…
The problem addressed in this paper is to control a plant so as to have its output tracking (a family of) reference commands generated at a remote location and transmitted through a communication channel of finite capacity. The uncertainty…
This paper considers control systems defined on Lie algebroids. After deriving basic controllability tests for general control systems, we specialize our discussion to the class of mechanical control systems on Lie algebroids. This class of…
Let H denote the 3-dimensional Heisenberg Lie group. The present paper classify all possible linear control systems on the homogeneous spaces of H through its closed subgroups and expose a detailed study on the control behavior…
This paper deals with the stabilization problem for nonlinear control-affine systems with the use of oscillating feedback controls. We assume that the local controllability around the origin is guaranteed by the rank condition with Lie…
This paper investigates the robust cooperative output regulation problem for a class of heterogeneous uncertain linear multi-agent systems with an unknown exosystem via event-triggered control (ETC). By utilizing the internal model approach…
Matrix analysis plays a crucial role in the field of control engineering, providing a powerful mathematical framework for the analysis and design of control systems. This research report explores various applications of matrix analysis in…
This paper develops a geometric framework for virtual constraints on Lie groups, with emphasis on mechanical systems modeled as affine connection systems. Virtual holonomic and virtual nonholonomic constraints, including linear and affine…
We present a geometric neural network-based tracking controller for systems evolving on matrix Lie groups under unknown dynamics, actuator faults, and bounded disturbances. Leveraging the left-invariance of the tangent bundle of matrix Lie…