Output Regulation for Control Systems on <inline-formula> <tex-math notation='TeX'>$SE(n)$</tex-math></inline-formula>: A Separation Principle Based Approach

Schmidt G.S.; Ebenbauer C.; Allgower F.

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$SE(n)$

: A Separation Principle Based Approach

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Output Regulation for Control Systems on $SE(n)$: A Separation Principle Based Approach

机译： $ SE（n）$ 上的控制系统的输出调节：基于分离原理的方法

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This technical note considers a solution to an output regulation problem for control systems on the special Euclidean group . The proposed solution consists of a convergent observer together with a certainty equivalence implementation of an almost globally stable state feedback law. The design of the observer and the state feedback are carried out independently. We show that all closed loop solutions remain bounded, that the steady-state solution is contained in exactly one of a finite number of isolated sets which are all unstable except one, which is the desired equilibrium set and which is asymptotically stable.

机译：本技术说明考虑了特殊欧几里得组控制系统的输出调节问题的解决方案。所提出的解决方案由收敛的观察者以及几乎全局稳定的状态反馈定律的确定性等效实现组成。观察者的设计和状态反馈是独立进行的。我们表明，所有闭环解都保持有界，稳态解恰好包含在有限数量的孤立集合之一中，这些集合除了一个是期望的平衡集合而且是渐近稳定的之外，都是不稳定的。

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《Automatic Control, IEEE Transactions on》 |2014年第11期|3057-3062|共6页
作者
Schmidt G.S.; Ebenbauer C.; Allgower F.;
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正文语种 eng
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Asymptotic stability; Equations; Manifolds; Observers; State feedback; Vectors; Euclidean group; output feedback;

机译：渐近稳定性方程歧管观测器状态反馈向量欧氏群输出反馈;

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Output Regulation for Control Systems on $SE(n)$: A Separation Principle Based Approach

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