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- W2797388624 abstract "Invariant tracking control design for control systems in state representationwith classical Lie point symmetry is considered. The relevance ofthe invariance aspect is motivated by an exemplary control design for the kinematiccar. Introducing the perpendicular distance between the position of therear axle midpoint and the reference trajectory in combination with the contouringerror as tracking error, an invariant feedback w.r.t. the action of $SE$(2)is derived. Generally, the use of compatible tracking errors allows the applicationof well-known feedback design approaches yielding an error dynamicsthat is invariant w.r.t. the group action. A normalization procedure allowingthe construction of invariant tracking errors is recalled for which a geometricinterpretation is presented." @default.
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- W2797388624 date "2011-01-01" @default.
- W2797388624 modified "2023-09-26" @default.
- W2797388624 title "Invariant feedback design for control systems with lie symmetries - A kinematic car example" @default.
- W2797388624 doi "https://doi.org/10.3934/proc.2011.2011.312" @default.
- W2797388624 hasPublicationYear "2011" @default.
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