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Adding an integrator for output regulation of systems with matrix Lie-group states

Mahony, Robert; Hamel, Tarek; Marconi, Lorenzo


This paper considers the problem of tracking reference trajectories for systems defined on matrix Lie Groups. Both the reference system (exosystem) and controlled system have states on the same matrix Lie group, with the exosystem having constant velocity. The measurements are associated with a group action on a homogeneous space of the state space and can be thought of as measured partial relative state information. We look for a controller depending only on the relative state errors and the...[Show more]

CollectionsANU Research Publications
Date published: 2015
Type: Conference paper
Source: Proceedings of the American Control Conference
DOI: 10.1109/ACC.2015.7171956


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