文献类型：期刊文献

英文题名：Integral control on Lie groups

作者：Zhang, Zhifei[1,3];Sarlette, Alain[2,3];Ling, Zhihao[1]

机构：[1]E China Univ Sci & Technol, Minist Educ, Key Lab Adv Control & Optimizat Chem Proc, Shanghai 200237, Peoples R China;[2]QUANTIC INRIA Paris Rocquencourt, Domaine Voluceau, F-78153 Le Chesnay, France;[3]Univ Ghent, Syst Res Grp, B-9052 Ghent, Belgium

年份：2015

卷号：80

起止页码：9

外文期刊名：SYSTEMS & CONTROL LETTERS

收录：;EI(收录号：20151700773559);WOS:【SCI-EXPANDED(收录号:WOS:000356106000002)】；

基金：This paper presents research results of the Belgian Network DYSCO (Dynamical Systems, Control, and Optimization), funded by the Interuniversity Attraction Poles Programme, initiated by the Belgian State, Science Policy Office. The first author's visit to the SYSTeMS research group is supported by CSC-grant (No. 201306740021) and the associated BOF-cofunding, initiated by the China Scholarship Council and Ghent University respectively.

语种：英文

外文关键词：PID control; Riemannian manifolds; Lie groups; Bias rejection

摘要：In this paper, we extend the popular integral control technique to systems evolving on Lie groups. More explicitly, we provide an alternative definition of "integral action" for proportional( derivative)controlled systems whose configuration evolves on a nonlinear space, where configuration errors cannot be simply added up to compute a definite integral. We then prove that the proposed integral control allows to cancel the drift induced by a constant bias in both first order (velocity) and second order (torque) control inputs for fully actuated systems evolving on abstract Lie groups. We illustrate the approach by 3-dimensional motion control applications. (c) 2015 Elsevier B.V. All rights reserved.