Invariant tracking

Philippe Martin; Pierre Rouchon; Joachim Rudolph

ESAIM: Control, Optimisation and Calculus of Variations (2010)

  • Volume: 10, Issue: 1, page 1-13
  • ISSN: 1292-8119

Abstract

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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 of 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.

How to cite

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Martin, Philippe, Rouchon, Pierre, and Rudolph, Joachim. "Invariant tracking." ESAIM: Control, Optimisation and Calculus of Variations 10.1 (2010): 1-13. <http://eudml.org/doc/90719>.

@article{Martin2010,
abstract = { 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 of 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. },
author = {Martin, Philippe, Rouchon, Pierre, Rudolph, Joachim},
journal = {ESAIM: Control, Optimisation and Calculus of Variations},
keywords = {Symmetries; invariants; nonlinear control; output tracking; decoupling.; output tracking; decoupling},
language = {eng},
month = {3},
number = {1},
pages = {1-13},
publisher = {EDP Sciences},
title = {Invariant tracking},
url = {http://eudml.org/doc/90719},
volume = {10},
year = {2010},
}

TY - JOUR
AU - Martin, Philippe
AU - Rouchon, Pierre
AU - Rudolph, Joachim
TI - Invariant tracking
JO - ESAIM: Control, Optimisation and Calculus of Variations
DA - 2010/3//
PB - EDP Sciences
VL - 10
IS - 1
SP - 1
EP - 13
AB - 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 of 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.
LA - eng
KW - Symmetries; invariants; nonlinear control; output tracking; decoupling.; output tracking; decoupling
UR - http://eudml.org/doc/90719
ER -

References

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