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Input-state matching under piecewise constant control for systems on matrix Lie groups

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3 Author(s)
Monaco, S. ; Dipt. di Inf. e Sist. Antonio Ruberti, Sapienza Univ. di Roma, Rome, Italy ; Normand-Cyrot, D. ; Di Giamberardino, P.

The constructive controllability problem under piecewise constant control is discussed for systems evolving on matrix Lie groups. Two approaches are followed: an indirect one, in which a continuous time control is matched by a multi-rate sampled data controller ensuring coincidence at the sampling instants and a direct one, in which a digital point to point maneuver is designed. Simulations are performed to compare the continuous and digital approaches.

Published in:

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

Date of Conference:

15-17 Dec. 2010