Displaying similar documents to “Two-input control systems on the euclidean group  SE (2)”

Control Lyapunov functions for homogeneous “Jurdjevic-Quinn” systems

ludovic faubourg, jean-baptiste pomet (2010)

ESAIM: Control, Optimisation and Calculus of Variations

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This paper presents a method to design explicit control Lyapunov functions for affine and homogeneous systems that satisfy the so-called “Jurdjevic-Quinn conditions”. For these systems a positive definite function is known that can only be made non increasing by feedback. We describe how a control Lyapunov function can be obtained a deformation of this “weak” Lyapunov function. Some examples are presented, and the linear quadratic situation is treated as an illustration. ...

Least regret control, virtual control and decomposition methods

Jacques-Louis Lions (2010)

ESAIM: Mathematical Modelling and Numerical Analysis

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"Least regret control" consists in trying to find a control which "optimizes the situation" with the constraint of not making things too worse with respect to a known reference control, in presence of more or less significant perturbations. This notion was introduced in [7]. It is recalled on a simple example (an elliptic system, with distributed control and boundary perturbation) in Section 2. We show that the problem reduces to a standard optimal control problem for . On another...

On the equivalence of control systems on Lie groups

Rory Biggs, Claudiu C. Remsing (2015)

Communications in Mathematics

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We consider state space equivalence and feedback equivalence in the context of (full-rank) left-invariant control systems on Lie groups. We prove that two systems are state space equivalent (resp.~detached feedback equivalent) if and only if there exists a Lie group isomorphism relating their parametrization maps (resp. traces). Local analogues of these results, in terms of Lie algebra isomorphisms, are also found. Three illustrative examples are provided.

Feedback in state constrained optimal control

Francis H. Clarke, Ludovic Rifford, R. J. Stern (2010)

ESAIM: Control, Optimisation and Calculus of Variations

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An optimal control problem is studied, in which the state is required to remain in a compact set . A control feedback law is constructed which, for given ε > 0, produces -optimal trajectories that satisfy the state constraint universally with respect to all initial conditions in . The construction relies upon a constraint removal technique which utilizes geometric properties of inner approximations of and a related trajectory tracking result. The control feedback is shown to possess...

Exponential stabilization of nonlinear driftless systems with robustness to unmodeled dynamics

Pascal Morin, Claude Samson (2010)

ESAIM: Control, Optimisation and Calculus of Variations

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Exponential stabilization of nonlinear driftless affine control systems is addressed with the concern of achieving robustness with respect to imperfect knowledge of the system's control vector fields. In order to satisfy this robustness requirement, and inspired by Bennani and Rouchon [1] where the same issue was first addressed, we consider a control strategy which consists in applying periodically updated open-loop controls that are continuous with respect to state initial conditions....