4 papers
Tracking Control for a Dynamic Model of an Underwater Submersible
Matthew Hampsey, Pieter van Goor, Ravi Banavar +1
Underwater vehicles are naturally modelled as rigid bodies on SE(3) subjected to added mass effects. The passivity of the Hamiltonian structure of the system can be exploited to de…
Equivariant Tracking Control for Fully Actuated Mechanical Systems on Matrix Lie Groups
Matthew Hampsey, Pieter van Goor, Ravi Banavar +1
Mechanical control systems such as aerial, marine, space, and terrestrial robots often naturally admit a state-space that has the structure of a Lie group. The kinetic energy of su…
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…