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Controller Design for Systems on Manifolds in Euclidean Space. (arXiv:1710.02780v1 [math.OC])
来源于:arXiv
Given a control system on a manifold that is embedded in Euclidean space, it
is sometimes convenient to use a single global coordinate system in the ambient
Euclidean space for controller design rather than to use multiple local charts
on the manifold or coordinate-free tools from differential geometry. In this
paper, we develop a theory about this and apply it to the fully actuated rigid
body system for stabilization and tracking. A noteworthy point in this theory
is that we legitimately modify the system dynamics outside its state-space
manifold before controller design so as to add attractiveness to the manifold
in the resulting dynamics. 查看全文>>