2 papers
math.OC2012
On symmetries of nonlinear systems in state representation and application of invariant feedback design
Carsten Collon, Joachim Rudolph
Symmetries of nonlinear control systems in state representation are considered. To this end, a geometric approach to ordinary differential equations is advocated. Invariant feedbac…
math.OC2012
Invariant feedback control for the kinematic car on the sphere
Carsten Collon, Joachim Rudolph
The design of an invariant tracking control law for the kinematic car driving on a sphere is discussed. Using a Lie group framework a left-invariant description on SO(3) is derived…