LAUSR

In this article, we examine a regulator problem for a class of fully actuated continuous-time invariant systems on Lie groups, using a discrete-time controller with constant sampling period. We present a smooth discrete-time control law that achieves global regulation on simply connected nilpotent Lie groups. We first solve the problem when both the plant state and exosystem state are available for feedback, then in the case where the plant state and plant output are available for feedback. The class of plant outputs considered includes, for example, the quantity to be regulated. This class of outputs allows us to use the classical Luenberger observer to estimate the exosystem states. In the full-information case, the regulation quantity on the Lie algebra is shown to decay exponentially to zero, which implies that it tends asymptotically to the identity on the Lie group.