{
  "id": "1910.05669",
  "version": "v1",
  "published": "2019-10-13T02:39:40.000Z",
  "updated": "2019-10-13T02:39:40.000Z",
  "title": "Model Predictive Tracking Control for Invariant Systems on Matrix Lie Groups via Stable Embedding into Euclidean Spaces",
  "authors": [
    "Dong Eui Chang",
    "Karmvir Singh Phogat",
    "Jongeun Choi"
  ],
  "doi": "10.1109/TAC.2019.2946231",
  "categories": [
    "math.OC",
    "cs.SY",
    "eess.SY"
  ],
  "abstract": "For controller design for systems on manifolds embedded in Euclidean space, it is convenient to utilize a theory that requires a single global coordinate system on the ambient Euclidean space rather than multiple local charts on the manifold or coordinate-free tools from differential geometry. In this article, we apply such a theory to design model predictive tracking controllers for systems whose dynamics evolve on manifolds and illustrate its efficacy with the fully actuated rigid body attitude control system.",
  "revisions": [
    {
      "version": "v1",
      "updated": "2019-10-13T02:39:40.000Z"
    }
  ],
  "analyses": {
    "keywords": [
      "euclidean space",
      "matrix lie groups",
      "invariant systems",
      "body attitude control system",
      "rigid body attitude control"
    ],
    "tags": [
      "journal article"
    ],
    "publication": {
      "publisher": "IEEE"
    },
    "note": {
      "typesetting": "TeX",
      "pages": 0,
      "language": "en",
      "license": "arXiv",
      "status": "editable"
    }
  }
}