| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 756378 | Systems & Control Letters | 2012 | 6 Pages |
Abstract
The design of an invariant tracking control law for the kinematic car driving on a sphere is discussed. Using a Lie group framework a left-invariant description on SO(3) is derived. Basic geometric considerations allow a direct comparison of the model with the planar case. Using a geometrically motivated invariant tracking error on S2S2 an invariant feedback design is proposed. Finally, one possible design of an invariant asymptotic observer is sketched.
Related Topics
Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
C. Collon, J. Rudolph,