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Invariant tracking control design via integrator backstepping
Author(s) -
Collon Carsten,
Rudolph Joachim
Publication year - 2010
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.201010294
Subject(s) - backstepping , integrator , control theory (sociology) , invariant (physics) , lie group , tracking (education) , corollary , computer science , mathematics , control engineering , control (management) , artificial intelligence , engineering , pure mathematics , adaptive control , psychology , mathematical physics , computer network , pedagogy , bandwidth (computing)
A tracking control problem for systems in state representation possessing a Lie symmetry group G is considered. By designing an invariant feedback control law based on invariant tracking errors the symmetry group G can be preserved under feedback. An extension of this approach to the popular integrator backstepping design method is presented. (© 2010 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)