Esaim: Control, Optimisation and Calculus of Variations Invariant Tracking *

@inproceedings{Martin2002EsaimCO,
  title={Esaim: Control, Optimisation and Calculus of Variations Invariant Tracking *},
  author={Philippe Martin and Pierre Rouchon and J. Rudolph},
  year={2002}
}
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… CONTINUE READING