Finite-time optimal tracking control for dynamic systems on Lie groups

doi:10.1002/asjc.946

CORC > 北京大学 > 工学院

	Finite-time optimal tracking control for dynamic systems on Lie groups
	Liu, Yongfang ; Geng, Zhiyong
刊名	asian journal of control
	2015
DOI	10.1002/asjc.946
英文摘要	This paper investigates the problem of finite-time optimal tracking control for dynamic systems on Lie groups for the situation when the tracking time and/or the cost functions need to be considered. The specific results are illustrated on SE(3) (the specific Euclidean groups of rigid body motions). The tracking time is given according to task requirements in advance. By using Pontryagin's maximum principle (PMP) on Lie groups and the backstepping method, a finite-time optimal tracking control law is designed to track a desired reference trajectory at the given time. Simultaneously, the corresponding cost functions are guaranteed to be optimal. Compared with existing results of optimal control on Lie groups, it is noteworthy that we consider the finite-time tracking control for dynamic systems rather than kinematic systems. Furthermore, the obtained optimal control law is described by explicit formulations, which is significant for practical applications. ? 2014 Chinese Automatic Control Society and Wiley Publishing Asia Pty Ltd.; SCI(E); EI; 0; ARTICLE; zygeng@pku.edu.cn; 3; 994-1005; 17
语种	英语
内容类型	期刊论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/316918]
专题	工学院
推荐引用方式 GB/T 7714	Liu, Yongfang,Geng, Zhiyong. Finite-time optimal tracking control for dynamic systems on Lie groups[J]. asian journal of control,2015.
APA	Liu, Yongfang,&Geng, Zhiyong.(2015).Finite-time optimal tracking control for dynamic systems on Lie groups.asian journal of control.
MLA	Liu, Yongfang,et al."Finite-time optimal tracking control for dynamic systems on Lie groups".asian journal of control (2015).