Control sets of linear systems on Lie groups

Control Systems on Lie Groups

Equivalence of Control Systems with Linear Systems on Lie Groups and Homogeneous Spaces

The aim of this paper is to prove that a control affine system on a manifold is equivalent by diffeomorphism to a linear system on a Lie group or a homogeneous space if and only the vector fields of the system are complete and generate a finite dimensional Lie algebra. A vector field on a connected Lie group is linear if its flow is a one parameter group of automorphisms. An affine vector field...

Controllability of Linear Systems with inner derivation on Lie Groups

A vector eld on a connected Lie group is said to be linear if its ow is a one parameter group of automorphisms. A control-a ne system is linear if the drift is linear and the controlled vector elds right invariant. The controllability properties of such systems are studied, mainly in the case where the derivation of the group Lie algebra that can be associated to the linear vector eld is inner....

The covering semigroup of invariant control systems on Lie groups

Integral Control on Lie Groups

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...