文献类型：期刊文献

英文题名：Modified Integral Control Globally Counters Symmetry-Breaking Biases

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

机构：[1]East China Univ Sci & Technol, Shanghai 200237, Peoples R China;[2]Univ Ghent, Dept Elect & Inforamt Syst, B-9052 Ghent, Belgium;[3]INRIA Paris, Quantum Integrated Circuits Lab, 2 Rue Simone Iff, F-75012 Paris, France

年份：2019

卷号：11

期号：5

外文期刊名：SYMMETRY-BASEL

收录：;WOS:【SCI-EXPANDED(收录号:WOS:000470990900042)】；

基金：This research was funded by China Scholarship Council grant and complementary UGhent-BOF grant number 01N00213.

语种：英文

外文关键词：geometric control theory; Lie groups; symmetry breaking; coordinated swarms

摘要：We propose a modified integral controller to treat actuation biases in nonholonomic systems. In such systems, although one cannot directly counter biases along all directions, one can still aim at restoring the symmetry of coordinated motion that the biases would break. Focusing on the example of steering controlled planar vehicles, we indeed show how to perfectly stabilize a circular trajectory coordinated with the leader, despite any unknown actuation bias. The proposed solution is a simple modified integral control term, and we prove via a detailed analysis of averaging theory that this control gadget globally stabilizes the perfect coordinated motion. The corresponding general observation is that stabilizing such symmetry-preserving situation can be viewed as rejecting a bias affecting the output measurement, instead of the input command. The symmetry-restoring control then becomes an output bias rejection, dual to the more standard input bias rejection with standard integral control.