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.
Bibliographical noteFunding 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: email@example.com; firstname.lastname@example.org).
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All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering