Model Predictive Tracking Control for Invariant Systems on Matrix Lie Groups via Stable Embedding into Euclidean Spaces

Dong Eui Chang, Karmvir Singh Phogat, Jongeun Choi

Research output: Contribution to journalArticlepeer-review

Abstract

For controller design for systems on manifolds embedded in Euclidean space, it is convenient to utilize a theory that requires a single global coordinate system on the ambient Euclidean space rather than multiple local charts on the manifold or coordinate-free tools from differential geometry. In this article, we apply such a theory to design model predictive tracking controllers for systems whose dynamics evolve on manifolds and illustrate its efficacy with the fully actuated rigid body attitude control system.

Original languageEnglish
Article number8862874
Pages (from-to)3191-3198
Number of pages8
JournalIEEE Transactions on Automatic Control
Volume65
Issue number7
DOIs
Publication statusPublished - 2020 Jul

Bibliographical note

Funding Information:
Manuscript received September 30, 2018; revised March 27, 2019 and July 13, 2019; accepted October 3, 2019. Date of publication October 8, 2019; date of current version June 27, 2020. This work was supported in part by the KAIST under Grant G04170001 and Grant N11180231 and in part by the Mid-career Research Program through the National Research Foundation of Korea, the Ministry of Science, and ICT under Grant NRF-2018R1A2B6008063. Recommended by Associate Editor M. Alamir. (Corresponding authors: Karmvir Singh Phogat and Jongeun Choi.) D. E. Chang and K. S. Phogat are with the School of Electrical Engineering, KAIST, Daejeon 34141, South Korea (e-mail: dechang@kaist.ac.kr; karmvir.p@gmail.com).

Publisher Copyright:
© 1963-2012 IEEE.

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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