Geometric PID controller for stabilization of nonholonomic mechanical systems on Lie groups
DOI10.1016/J.AUTOMATICA.2024.111658zbMATH Open1545.93089MaRDI QIDQ6566744
Diogu Hennedige Sanjeeva Maithripala, Arun D. Mahindrakar, Ravi N. Banavar, Rama Seshan Chandrasekaran
Publication date: 3 July 2024
Published in: Automatica (Search for Journal in Brave)
nonlinear controlLie groupsnonholonomic systemsroboticsLagrangian mechanicsPID controllergeometric mechanicsgeometric methods
Nonlinear systems in control theory (93C10) Geometric methods (93B27) Asymptotic stability in control theory (93D20) Control of mechanical systems (70Q05)
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