Optimal control on SU(2) Lie group with stability analysis

被引：0

作者：

Tiwari A. ^{[1
]}

Jena A. ^{[1
]}

机构：

[1] Department of Mathematics, National Institute of Technology, Rourkela, 769008, Odisha

来源：

International Journal of Dynamics and Control | 2020年 / 8卷 / 02期

关键词：

Lie group; Numerical integration; Optimal control; Stability;

D O I：

10.1007/s40435-019-00578-x

中图分类号：

学科分类号：

摘要：

Many configuration spaces of mechanical and non-mechanical problems in physical world involve matrix Lie groups. These Lie groups provide a mathematically rich formulation for studying a variety of control theory problems. While control systems have been specialized to different matrix Lie groups, study of optimal control of these systems by minimizing the input cost function has been a tempting research area. Here we take a left invariant driftless control system on the Lie group SU(2) and analyse controllability and optimal control of the system. Stability of the resulting dynamics from optimal control analysis is elaborated. Then numerical integration and some related properties are discussed via two unconventional integrators. © 2019, Springer-Verlag GmbH Germany, part of Springer Nature.

引用

页码：508 / 517

页数：9

共 22 条

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