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Optimal control on non-compact lie groups: A projection operator approach

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3 Author(s)
Saccon, A. ; Inst. Super. Tecnico (IST), Inst. for Syst. & Robot. (ISR), Lisbon, Portugal ; Hauser, J. ; Aguiar, A.P.

Many nonlinear systems of practical interest evolve on Lie groups or on manifolds acted upon by Lie groups. Examples range from aircraft and underwater vehicles to quantum mechanical systems. In this paper, we develop the mathematical machinery needed for projection operator based trajectory exploration and optimization (optimal control) for systems defined on non-compact Lie groups.

Published in:

Decision and Control (CDC), 2010 49th IEEE Conference on

Date of Conference:

15-17 Dec. 2010