A Coordinate-Free Approach to Tracking for Simple Mechanical Systems On Lie Groups

2005 ◽  
pp. 223-237 ◽  
Author(s):  
D.H.S. Maithripala ◽  
J.M. Berg ◽  
W.P. Dayawansa
Keyword(s):  
Lie Groups ◽  
Mechanical Systems ◽  
Systems On Lie Groups

Intrinsic Observer-Based Stabilization for Simple Mechanical Systems on Lie Groups

2005 ◽  
Vol 44 (5) ◽  
pp. 1691-1711 ◽  
Author(s):  
D. H. S. Maithripala ◽  
W. P. Dayawansa ◽  
J. M. Berg
Keyword(s):  
Lie Groups ◽  
Mechanical Systems ◽  
Systems On Lie Groups

An intrinsic PID controller for mechanical systems on Lie groups

Automatica ◽  
2015 ◽  
Vol 54 ◽  
pp. 189-200 ◽  
Author(s):  
D.H.S. Maithripala ◽  
Jordan M. Berg
Keyword(s):  
Lie Groups ◽  
Pid Controller ◽  
Mechanical Systems ◽  
Systems On Lie Groups

State estimation for invariant systems on Lie groups with delayed output measurements

Automatica ◽  
2016 ◽  
Vol 68 ◽  
pp. 254-265 ◽  
Author(s):  
Alireza Khosravian ◽  
Jochen Trumpf ◽  
Robert Mahony ◽  
Tarek Hamel
Keyword(s):  
State Estimation ◽  
Lie Groups ◽  
Systems On Lie Groups
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