Periodic trajectory tracking for control-affine driftless systems on compact Lie groups

Abstract

We treat the periodic trajectory tracking problem: given a periodic trajectory of a control-affine, left-invariant driftless system in a compact and connected Lie group $G$ and an initial condition in $G$, find another trajectory of the system satisfying the initial condition given and that asymptotically tracks the periodic trajectory. We solve this problem locally (for initial conditions in a neighborhood of some point of the periodic trajectory) when $G$ is semisimple and the system is Lie-determined (i.e. controllable), and only for a class of periodic trajectories (which we call regular). Finally we present a set of sufficient conditions to ensure the existence of such trajectories.

15 pages. This is a pre-print of an article published in Journal of Dynamical and Control Systems. The final authenticated version is available online at: https://doi.org/10.1007/s10883-019-09468-z