论文标题
矩阵谎言组的指数稳定的一阶控制
Exponentially Stable First Order Control on Matrix Lie Groups
论文作者
论文摘要
我们为在矩阵Lie基团上发展的系统提供了一个新颖的一阶控制器，其中主要用例是对机器人操纵器的笛卡尔速度控制。该控制器在许多常用的谎言组上实现了全局指数轨迹跟踪，包括特殊的正交组SO（N），特殊的Euclidean组SE（n）和综合数GL（N，C）的一般线性组。此外，该控制器还可以在所有矩阵谎言组上实现局部指数轨迹跟踪。我们证明了该控制器在模拟对许多不同的谎言组以及具有7型锯刀机器人臂的硬件上的有效性。
We present a novel first order controller for systems evolving on matrix Lie groups, a major use case of which is Cartesian velocity control on robot manipulators. This controller achieves global exponential trajectory tracking on a number of commonly used Lie groups including the Special Orthogonal Group SO(n), the Special Euclidean Group SE(n), and the General Linear Group over complex numbers GL(n, C). Additionally, this controller achieves local exponential trajectory tracking on all matrix Lie groups. We demonstrate the effectiveness of this controller in simulation on a number of different Lie groups as well as on hardware with a 7-DOF Sawyer robot arm.
