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Analytical solutions to a class of feedback systems on SO(n)
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.ORCID iD: 0000-0003-0177-1993
2014 (English)In: IFAC Proceedings Volumes (IFAC-PapersOnline), 2014, 445-450 p.Conference paper (Refereed)
Abstract [en]

This paper provides analytical solutions to the closed loop system kinematics for a class of almost globally asymptotically stable feedback laws on SO(n). The resulting closed loop kinematics are solved for the respective matrices as functions of time, the initial conditions and the gain parameters of the control laws. The analytical solutions provide insight into the transient dynamics of the system and can be used to prove almost global attractiveness of the identity matrix. We consider an application of these results towards model predictive control where the transient phase of the system is utilized to attempt to complete a task of secondary importance by choosing the gain parameters as functions of time and the initial conditions.

Place, publisher, year, edition, pages
2014. 445-450 p.
, IFAC Proceedings Volumes (IFAC-PapersOnline), ISSN 1474-6670
Keyword [en]
Attitude control, Lie groups, Nonlinear systems
National Category
Control Engineering
URN: urn:nbn:se:kth:diva-175131ScopusID: 2-s2.0-84929759063ISBN: 9783902823625OAI: diva2:860371
19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014, 24 August 2014 through 29 August 2014

QC 20151012

Available from: 2015-10-12 Created: 2015-10-09 Last updated: 2015-10-12Bibliographically approved

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