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Motion Control for Nonholonomic Systems on Matrix Lie Groups

dc.contributor.advisorKrishnaprasad, P.S.en_US
dc.contributor.authorStruemper, Herbert Karlen_US
dc.description.abstractIn this dissertation we study the control of nonholonomic systems defined by invariant vector fields on matrix Lie groups. We make use of canonical constructions of coordinates and other mathematical tools provided by the Lie group setting. An approximate tracking control law is derived for so-called chained form systems which arise as local representations of systems on a certain nilpotent matrix group. After studying the technique of nilpotentization in the setting of systems on matrix Lie groups we show how motion control laws derived for nilpotent systems can be extended to nilpotentizable systems using feedback and state transformations. The proposed control laws exhibit highly oscillatory components both for tracking and feedback stabilization of local representations of nonholonomic systems on Lie groups. Applications to the control and analysis of the kinematics of mechanical systems are discussed and numerical simulations are presented.en_US
dc.format.extent586952 bytes
dc.relation.ispartofseriesISR; PhD 1998-1en_US
dc.relation.ispartofseriesCDCSS; PhD 1998-1en_US
dc.subjectgeometric controlen_US
dc.subjectlinear systemsen_US
dc.subjectnonlinear systemsen_US
dc.subjectoptimal controlen_US
dc.subjectmotion controlen_US
dc.subjectnonholonomic motion planningen_US
dc.subjectsystems on Lie groupsen_US
dc.subjectapproximate inversionen_US
dc.subjectgeometric methodsen_US
dc.subjectIntelligent Control Systemsen_US
dc.titleMotion Control for Nonholonomic Systems on Matrix Lie Groupsen_US

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