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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2403.15264 |
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| _version_ | 1866911809582137344 |
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| author | Wu, Dongjun Yi, Bowen Manchester, Ian R. |
| author_facet | Wu, Dongjun Yi, Bowen Manchester, Ian R. |
| contents | In this paper, we extend the control contraction metrics (CCM) approach, which was originally proposed for the universal tracking control of nonlinear systems, to those that evolves on Lie groups. Our idea is to view the manifold as a constrained set that is embedded in Euclidean space, and then propose the sufficient conditions for the existence of a CCM and the associated controller design. Notably, we demonstrate that the search for CCM on Lie groups can be reformulated as convex conditions. The results extend the applicability of the CCM approach and provide a framework for analyzing the behavior of control systems with Lie group structures. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_15264 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Control contraction metrics on Lie groups Wu, Dongjun Yi, Bowen Manchester, Ian R. Systems and Control In this paper, we extend the control contraction metrics (CCM) approach, which was originally proposed for the universal tracking control of nonlinear systems, to those that evolves on Lie groups. Our idea is to view the manifold as a constrained set that is embedded in Euclidean space, and then propose the sufficient conditions for the existence of a CCM and the associated controller design. Notably, we demonstrate that the search for CCM on Lie groups can be reformulated as convex conditions. The results extend the applicability of the CCM approach and provide a framework for analyzing the behavior of control systems with Lie group structures. |
| title | Control contraction metrics on Lie groups |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2403.15264 |