Local Synchronization of Sampled-Data Systems on Lie Groups
Abstract
We present a smooth distributed nonlinear control law for local synchronization of identical driftless kinematic agents on a Cartesian product of matrix Lie groups with a connected communication graph. If the agents are initialized sufficiently close to one another, then synchronization is achieved exponentially fast. We first analyze the special case of commutative Lie groups and show that in exponential coordinates, the closed-loop dynamics are linear. We characterize all equilibria of the network and, in the case of an unweighted, complete graph, characterize the settling time and conditions for deadbeat performance. Using the Baker-Campbell-Hausdorff theorem, we show that, in a neighbourhood of the identity element, all results generalize to arbitrary matrix Lie groups.
Keywords
Cite
@article{arxiv.1702.08524,
title = {Local Synchronization of Sampled-Data Systems on Lie Groups},
author = {Philip James McCarthy and Christopher Nielsen},
journal= {arXiv preprint arXiv:1702.08524},
year = {2017}
}