Hybrid Geometric Controllers for Fully-Actuated Left-invariant Systems on Matrix Lie Groups

Adeel Akhtar, Ricardo G. Sanfelice

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper proposes a hybrid geometric control scheme for a system defined on a matrix Lie group in the form of a left-invariant vector field. Our solution to the point stabilization problem is coordinate free (or geometric). Specifically, we propose a hybrid geometric controller that uses a controller from a local class of geometric controllers and an open-loop geometric controller. Our method guarantees that the given point in the manifold is robustly globally asymptotically stable for the closed-loop system when each controller from the local geometric class is combined with the geometric open-loop controller using a hybrid systems framework.
Original languageEnglish (US)
Title of host publicationProceedings of the IEEE Conference on Decision and Control
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1855-1860
Number of pages6
ISBN (Print)9781665467612
DOIs
StatePublished - Jan 1 2022
Externally publishedYes

Bibliographical note

Generated from Scopus record by KAUST IRTS on 2023-10-11

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