A frequency‐constrained geometric Pontryagin maximum principle on matrix Lie groups
Sign Up to like & getrecommendations! Published in 2020 at "International Journal of Robust and Nonlinear Control"
DOI: 10.1002/rnc.5085
Abstract: We present a geometric discrete‐time Pontryagin maximum principle (PMP) on matrix Lie groups that incorporates frequency constraints on the control trajectories in addition to pointwise constraints on the states and control actions directly at the… read more here.
Keywords: lie; pontryagin maximum; maximum principle; matrix lie ... See more keywords
Equivariant Observers for Second-Order Systems on Matrix Lie Groups
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Transactions on Automatic Control"
DOI: 10.1109/tac.2022.3173926
Abstract: This article develops an equivariant symmetry for second-order kinematic systems on matrix Lie groups and uses this symmetry for observer design. The state of a second-order kinematic system on a matrix Lie group is naturally… read more here.
Keywords: matrix lie; kinematics; tangent bundle; group ... See more keywords