Now showing items 1-6 of 6
Motion Control of Drift-Free, Left-Invariant Systems on Lie Groups, Part II: A General Constructive Control Algorithm
In this paper we present a general algorithm for constructing open-loop controls to solve the complete constructive controllability problem for drift-free invariant systems on Lie groups that satisfy the Lie algebra ...
Averaging and Motion Control On Lie Groups
The deeper investigation of problems of feedback stabilization and constructive controllability has drawn increased attention to the question of structuring control systems. Thus, for instance, it is interesting to know ...
Adaptive Friction Compensation for Bi-Directional Low-Velocity Position Tracking
This paper presents a comparative investigation of friction- compensating control strategies designed to improve low-velocity position tracking performance in the presence of velocity reversals for servomechanisms. The ...
Comparative Study of Friction-Compensating Control Strategies for Servomechanisms
This paper describes a comparative investigation of friction- compensating control strategies designed to improve low-velocity position tracking performance for servomechanisms. Several control methods are considered ...
Motion Control of Drift-Free, Left-Invariant Systems on Lie Groups
In this paper we address the constructive controllability problem for drift free, left-invariant systems on finite-dimensional Lie groups with fewer controls than state dimension. We consider small (e) amplitude, low-frequency, ...
High-Order Averaging on Lie Groups and Control of an Autonomous Underwater Vehicle
In this paper we extend our earlier results on the use of periodic forcing and averaging to solve the constructive controllability problem for drift-free left-invariant systems on Lie groups with fewer controls than state ...