By Topic

Motion control of drift-free, left-invariant systems on Lie groups

Sign In

Full text access may be available.

To access full text, please use your member or institutional sign in.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Leonard, N.E. ; Dept. of Mech. & Aerosp. Eng., Princeton Univ., NJ, USA ; Krishnaprasad, P.S.

In this paper we address the constructive controllability problem for drift-free, left-invariant systems on finite-dimensional Lie groups with fewer controls than state dimension. We consider small (ε) amplitude, low-frequency, periodically time-varying controls and derive average solutions for system behavior. We show how the pth-order average formula can be used to construct open-loop controls for point-to-point maneuvering of systems which require up to (p-1) iterations of Lie brackets to satisfy the Lie algebra controllability rank condition. In the cases p=2,3, we give algorithms for constructing these controls as a function of structure constants that define the control authority, i.e., the actuator capability, of the system. The algorithms are based on a geometric interpretation of the average formulas and produce sinusoidal controls that solve the constructive controllability problem with O(εP) accuracy in general (exactly if the Lie algebra is nilpotent). The methodology is applicable to a variety of control problems and is illustrated for the motion control problem of an autonomous underwater vehicle with as few as three control inputs

Published in:

Automatic Control, IEEE Transactions on  (Volume:40 ,  Issue: 9 )