Invariant feedback control for the kinematic car on the sphere

Details Invariant feedback control for the kinematic car on the sphere Invariant feedback control for the kinematic car on the sphere

2012-03-17

arxiv.org/abs/1203.3904v1

Mathematics

Optimization and Control

Scientific paper

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. Basic geometric considerations allow a direct comparison of the model with the usual planar case. Exploiting the Lie group structure an invariant tracking error is defined and a feedback is designed. Finally, one possible design of an invariant asymptotic observer is sketched.

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