Invariant tracking

被引：27

作者：

Martin, P

Rouchon, P

Rudolph, J

机构：

[1] Ecole Mines, Ctr Automat & Syst, F-75272 Paris 06, France

[2] Tech Univ Dresden, Inst Regelungs & Steuerungstheorie, D-01062 Dresden, Germany

来源：

ESAIM-CONTROL OPTIMISATION AND CALCULUS OF VARIATIONS | 2004年 / 10卷 / 01期

关键词：

symmetries; invariants; nonlinear control; output tracking; decoupling;

D O I：

10.1051/cocv:2003037

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The problem of invariant output tracking is considered: given a control system admitting a symmetry group G, design a feedback such that the closed-loop system tracks a desired output reference and is invariant under the action of G. Invariant output errors are defined as a set a scalar invariants of G; they are calculated with the Cartan moving frame method. It is shown that standard tracking methods based on input-output linearization can be applied to these invariant errors to yield the required "symmetry-preserving" feedback.

引用

页码：1 / 13

页数：13

共 20 条

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[Anonymous], ZAMM S1

[2] Nonholonomic mechanical systems with symmetry [J].