This paper shows how “integral action” may be implemented intrinsically in the general
setting of fully-actuated mechanical systems on Lie groups. When combined with an intrinsic …

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 …

Inspired by recent work on a PID-like tracking control law for an interconnected mechanical
system on a Lie group, this article presents a novel tracking control law for such mechanical …

This paper presents flight test results that demonstrate the effectiveness of a locally
exponential and almost-globally stable geometric PID controller for attitude stabilization. The …

The intrinsic infinite horizon optimal control problem of mechanical systems on Lie group is
investigated. The geometric optimal control problem is built on the intrinsic coordinate‐free …

Intrinsic controllers are invariant under the coordinates used for their representation. In the
case of rigid-body motion in two and three dimensions, the intrinsic approach eliminates …

This paper presents mathematical modeling, implementation and experimentation results of
Extended Kalman filter (EKF) implemented on existing flight control algorithm which is used …

Tracking the unactuated configuration variable in an underactuated system, in a global
sense, has not received much attention. Here we present a scheme to do so for a pendubot …

This paper applies the recently developed framework for integral control on nonlinear
spaces to two non-standard cases. First, we show that perfect target stabilization in presence …

The problem of output regulation deals with asymptotic tracking/rejection of a prescribed
reference trajectory/disturbance. The main feature of the output regulation is that references …