An intrinsic PID controller for mechanical systems on Lie groups

DOI10.1016/j.automatica.2015.01.005zbMath1318.93030OpenAlexW2020741898WikidataQ115360110 ScholiaQ115360110MaRDI QIDQ490824

Jordan M. Berg, Diogu Hennedige Sanjeeva Maithripala

Publication date: 21 August 2015

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2015.01.005

zbMATH Keywords

mechanical systemsLie groupsPID controlalmost global stabilityquadrotorsrigid-body

Mathematics Subject Classification ID

Feedback control (93B52) Control of mechanical systems (70Q05) Algebraic methods (93B25)

Related Items (11)

Trajectory tracking control of thrust-vectoring UAVs ⋮ Global robust attitude tracking with torque disturbance rejection via dynamic hybrid feedback ⋮ Almost-global tracking for a rigid body with internal rotors ⋮ Semi-globally exponential trajectory tracking for a class of spherical robots ⋮ Barankin, McAulay-Seidman and Cramér-Rao bounds on matrix Lie groups ⋮ Synergistic potential functions from single modified trace function on SO(3) ⋮ Output regulation for systems on matrix Lie-groups ⋮ Intrinsic optimal control for mechanical systems on Lie group ⋮ A geometric approach to position tracking control of a nonholonomic planar rigid body: case study of an underwater vehicle ⋮ A new geometric trajectory tracking controller for the unicycle mobile robot ⋮ Modified integral control globally counters symmetry-breaking biases

Cites Work

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• Almost-Global Tracking of Simple Mechanical Systems on a General Class of Lie Groups
• Quaternion-Based Hybrid Control for Robust Global Attitude Tracking
• Rigid Body Attitude Control Using a Single Vector Measurement and Gyro
• A topological obstruction to continuous global stabilization of rotational motion and the unwinding phenomenon

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