Esaim: Control, Optimisation and Calculus of Variations Invariant Tracking *
نویسندگان
چکیده
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. Received December 19, 2002. Revised April 2, 2003.
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