Title :
On approximate inversion and feedback stabilization for systems on matrix Lie groups
Author :
Struemper, Herbert ; Krishnaprasad, P.S.
Author_Institution :
Dept. of Electr. Eng. & Syst. Res. Inst., Maryland Univ., College Park, MD, USA
Abstract :
This paper studies open-loop tracking and feedback stabilization for nonholonomic systems. Using the concept of approximate inversion, results for drift-free, left-invariant systems on specific matrix Lie groups are presented
Keywords :
Lie groups; approximation theory; feedback; inverse problems; matrix algebra; nonlinear systems; robust control; state-space methods; tracking; approximate inversion; feedback; left-invariant systems; matrix Lie groups; nonholonomic systems; open-loop; stabilization; state space; tracking; Algebra; Control systems; Feedback; Frequency; H infinity control; Motion control; Nonlinear control systems; Open loop systems; Tracking; Velocity control;
Conference_Titel :
American Control Conference, 1997. Proceedings of the 1997
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3832-4
DOI :
10.1109/ACC.1997.609260
