Structured linearization of discrete mechanical systems on Lie groups: A synthesis of analysis and control

2015 ◽  
Author(s):  
Taosha Fan ◽  
Todd Murphey
Keyword(s):  
Lie Groups ◽  
Mechanical Systems ◽  
Discrete Mechanical Systems ◽  
And Control ◽  
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
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