Synergistic PID and Output Feedback Control on Matrix Lie Groups

摘要

In this paper, we develop multiple synergistic hybrid feedback control laws for mechanical systems on matrix Lie groups with left-invariant metrics. With the goal of globally asymptotically tracking a desired reference trajectory, we propose a hybrid proportional-derivative (PD) type control law and an output feedback version which only utilizes configuration measurements. Moreover, to ensure global asymptotic tracking in the presence of a constant and unknown disturbance in the system dynamics, we introduce two novel proportional-integral-derivative (PID) type control laws with slightly different properties in terms of gain selection and integral action. The theoretical developments are validated through numerical simulation of an underwater vehicle.