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 language | English |
|---|---|
| Article number | 8862874 |
| Pages (from-to) | 3191-3198 |
| Number of pages | 8 |
| Journal | IEEE Transactions on Automatic Control |
| Volume | 65 |
| Issue number | 7 |
| DOIs | |
| Publication status | Published - 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