Output Regulation for Systems on Matrix Lie-group
Abstract
This paper deals with the problem of output regulation for systems defined on matrix Lie-Groups. Reference trajectories to be tracked are supposed to be generated by an exosystem, defined on the same Lie-Group of the controlled system, and only partial relative error measurements are supposed to be available. These measurements are assumed to be invariant and associated to a group action on a homogeneous space of the state space. In the spirit of the internal model principle the proposed control structure embeds a copy of the exosystem kinematic. This control problem is motivated by many real applications fields in aerospace, robotics, projective geometry, to name a few, in which systems are defined on matrix Lie-groups and references in the associated homogenous spaces.
Keywords
Cite
@article{arxiv.1603.03372,
title = {Output Regulation for Systems on Matrix Lie-group},
author = {Simone de Marco and Lorenzo Marconi and Tarek Hamel and Rober Mahony},
journal= {arXiv preprint arXiv:1603.03372},
year = {2016}
}