کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
712192 | 1461146 | 2014 | 6 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Analytical Solutions to a Class of Feedback Systems on SO(n)
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موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مکانیک محاسباتی
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
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.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: IFAC Proceedings Volumes - Volume 47, Issue 3, 2014, Pages 445–450
Journal: IFAC Proceedings Volumes - Volume 47, Issue 3, 2014, Pages 445–450
نویسندگان
Johan Markdahl, Xiaoming Hu,