| Issue |
ESAIM: COCV
Volume 10, Number 1, January 2004
|
|
|---|---|---|
| Page(s) | 1 - 13 | |
| DOI | https://doi.org/10.1051/cocv:2003037 | |
| Published online | 15 February 2004 | |
Invariant tracking
1
Centre Automatique et Systèmes, École des Mines de Paris, 60 boulevard Saint-Michel, 75272 Paris Cedex 06, France; philippe.martin@ensmp.fr., pierre.rouchon@ensmp.fr.
2
Institut fur Regelungs- und Steuerungstheorie, Technische Universität Dresden, Mommsenstr. 13, 01062 Dresden, Germany; rudolph@erss11.et.tu-dresden.de.
Received:
19
December
2002
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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