dc.contributor.author | Basso, Erlend Andreas | |
dc.contributor.author | Schmidt-Didlaukies, Henrik | |
dc.contributor.author | Pettersen, Kristin Ytterstad | |
dc.contributor.author | Gravdahl, Jan Tommy | |
dc.date.accessioned | 2023-12-08T07:23:01Z | |
dc.date.available | 2023-12-08T07:23:01Z | |
dc.date.created | 2023-11-10T14:18:28Z | |
dc.date.issued | 2023 | |
dc.identifier.citation | IFAC-PapersOnLine. 2023, 56 (1), 120-125. | en_US |
dc.identifier.issn | 2405-8963 | |
dc.identifier.uri | https://hdl.handle.net/11250/3106526 | |
dc.description.abstract | In this paper, we develop multiple synergistic hybrid feedback control laws for mechanical systems on matrix Lie groups with left-invariant metrics. With the goal of globally asymptotically tracking a desired reference trajectory, we propose a hybrid proportional-derivative (PD) type control law and an output feedback version which only utilizes configuration measurements. Moreover, to ensure global asymptotic tracking in the presence of a constant and unknown disturbance in the system dynamics, we introduce two novel proportional-integral-derivative (PID) type control laws with slightly different properties in terms of gain selection and integral action. The theoretical developments are validated through numerical simulation of an underwater vehicle. | en_US |
dc.language.iso | eng | en_US |
dc.publisher | IFAC | en_US |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internasjonal | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/deed.no | * |
dc.title | Synergistic PID and Output Feedback Control on Matrix Lie Groups | en_US |
dc.title.alternative | Synergistic PID and Output Feedback Control on Matrix Lie Groups | en_US |
dc.type | Peer reviewed | en_US |
dc.type | Journal article | en_US |
dc.description.version | publishedVersion | en_US |
dc.source.pagenumber | 120-125 | en_US |
dc.source.volume | 56 | en_US |
dc.source.journal | IFAC-PapersOnLine | en_US |
dc.source.issue | 1 | en_US |
dc.identifier.doi | 10.1016/j.ifacol.2023.02.021 | |
dc.identifier.cristin | 2195144 | |
cristin.ispublished | true | |
cristin.fulltext | postprint | |
cristin.qualitycode | 1 | |