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Motion Control of Drift-Free, Left-Invariant Systems on Lie Groups

dc.contributor.authorLeonard, Naomi E.en_US
dc.contributor.authorKrishnaprasad, Perinkulam S.en_US
dc.date.accessioned2007-05-23T09:56:07Z
dc.date.available2007-05-23T09:56:07Z
dc.date.issued1994en_US
dc.identifier.urihttp://hdl.handle.net/1903/5488
dc.description.abstractIn 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, periodically time-varying controls and derive average solutions for system behavior. We show how the pth-order average formula can be used to construct open-loop controls for point-to-point maneuvering of systems that require up to ( p - 1) iterations of Lie brackets to satisfy the Lie algebra controllability rank condition. In the cases p =2,3, we give algorithms for constructing these controls as a function of structure constants that define the control authority, i.e., the actuator capability, of the system. The algorithms are based on a geometric interpretation of the average formulas and produce sinusoidal controls that solve the constructive controllability problem with O (ep) accuracy in general (exactly if the Lie algebra is nipotent). The methodology is applicable to a variety of control problems and is illustrated for the motion control problem of an autonomous underwater vehicle with as few as three control inputs.en_US
dc.format.extent408276 bytes
dc.format.mimetypeapplication/pdf
dc.language.isoen_USen_US
dc.relation.ispartofseriesISR; TR 1994-8en_US
dc.subjectgeometric controlen_US
dc.subjectkinematicsen_US
dc.subjectnonlinear systemsen_US
dc.subjectroboticsen_US
dc.subjectIntelligent Servomechanismsen_US
dc.titleMotion Control of Drift-Free, Left-Invariant Systems on Lie Groupsen_US
dc.typeTechnical Reporten_US
dc.contributor.departmentISRen_US


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