1 citations · 1 across the 3 of their papers we have counts for
3 papers
Exploiting Equivariance in the Design of Tracking Controllers for Euler-Poincare Systems on Matrix Lie Groups
Matthew Hampsey, Pieter van Goor, Ravi Banavar +1
The trajectory tracking problem is a fundamental control task in the study of mechanical systems. A key construction in tracking control is the error or difference between an actua…
Exploiting spatial group error and synchrony for a unicycle tracking controller
Matthew Hampsey, Pieter van Goor, Robert Mahony
Trajectory tracking for the kinematic unicycle has been heavily studied for several decades. The unicycle admits a natural $\SE(2)$ symmetry, a key structure exploited in many of t…
Exploiting Different Symmetries for Trajectory Tracking Control with Application to Quadrotors
Matthew Hampsey, Pieter van Goor, Tarek Hamel +1
High performance trajectory tracking control of quadrotor vehicles is an important challenge in aerial robotics. Symmetry is a fundamental property of physical systems and offers t…