Volume 10, Number 1, January 2004
|Page(s)||1 - 13|
|Published online||15 February 2004|
Centre Automatique et Systèmes, École des Mines de Paris, 60 boulevard Saint-Michel, 75272 Paris Cedex 06, France; email@example.com., firstname.lastname@example.org.
2 Institut fur Regelungs- und Steuerungstheorie, Technische Universität Dresden, Mommsenstr. 13, 01062 Dresden, Germany; email@example.com.
Revised: 2 April 2003
The problem of invariant output tracking is considered: given a control system admitting a symmetry group G, design a feedback such that the closed-loop system tracks a desired output reference and is invariant under the action of G. Invariant output errors are defined as a set of scalar invariants of G; they are calculated with the Cartan moving frame method. It is shown that standard tracking methods based on input-output linearization can be applied to these invariant errors to yield the required “symmetry-preserving” feedback.
Mathematics Subject Classification: 53A55 / 93C10 / 93D25 / 70Q05
Key words: Symmetries / invariants / nonlinear control / output tracking / decoupling.
© EDP Sciences, SMAI, 2004
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