Time varying stabilizing feedback for drift free systems via optimization on a Lie group

Author

Michalska, Hannah

Author_Institution

Dept. of Electr. Eng., McGill Univ., Montreal, Que., Canada

Volume

2

fYear

1996

fDate

11-13 Dec 1996

Firstpage

1700

Abstract

A method is presented for construction of time varying stabilizing feedback control for systems without drift. The method is universal in the sense that it is independent of the vector fields determining the motion of the system, or of the choice of a Lyapunov function. The proposed feedback law is a composition of a standard stabilizing feedback control for a Lie bracket extension of the original system and a periodic continuation of a specific solution to an open loop control problem on the associated Lie group. The latter is posed as a feasibility or optimal control problem in the Philip Hall coordinates of flows

Keywords

Lie groups; control system synthesis; discrete systems; feedback; optimal control; stability; time-varying systems; Lie group; Lyapunov function; drift free systems; open loop control; optimal control problem; standard stabilizing feedback control; time varying stabilizing feedback; Control systems; Equations; Feedback control; Feedback loop; Lyapunov method; Motion control; Nonlinear control systems; Open loop systems; Optimal control; Time varying systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1996., Proceedings of the 35th IEEE Conference on

Conference_Location

Kobe

ISSN

0191-2216

Print_ISBN

0-7803-3590-2

Type

conf

DOI

10.1109/CDC.1996.572798

Filename

572798