Model Predictive Tracking Control for Invariant Systems on Matrix Lie Groups via Stable Embedding into Euclidean Spaces
Optimization and Control
2019-10-15 v1 Systems and Control
Systems and Control
Abstract
For controller design for systems on manifolds embedded in Euclidean space, it is convenient to utilize a theory that requires a single global coordinate system on the ambient Euclidean space rather than multiple local charts on the manifold or coordinate-free tools from differential geometry. In this article, we apply such a theory to design model predictive tracking controllers for systems whose dynamics evolve on manifolds and illustrate its efficacy with the fully actuated rigid body attitude control system.
Cite
@article{arxiv.1910.05669,
title = {Model Predictive Tracking Control for Invariant Systems on Matrix Lie Groups via Stable Embedding into Euclidean Spaces},
author = {Dong Eui Chang and Karmvir Singh Phogat and Jongeun Choi},
journal= {arXiv preprint arXiv:1910.05669},
year = {2019}
}