2015/09/28 by Uroš Kalabić, Rohit Gupta, Kalabić, Uroš +7 · 2 citations
Engineering · #Adaptive Control of Nonlinear Systems #Advanced Control Systems Optimization #Control and Dynamics of Mobile Robots #FOS: Electrical engineering #FOS: Mathematics #Optimization and Control (math.OC) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.1509.08567
openalex publication_date 2015/09/28 · openalex created_date 2022/10/03 · openalex updated_date 2026/07/28
We develop a model predictive control (MPC) design for systems with\ndiscrete-time dynamics evolving on smooth manifolds. We show that the\nproperties of conventional MPC for dynamics evolving on mathbb Rn are\npreserved and we develop a design procedure for achieving similar properties.\nWe also demonstrate that for discrete-time dynamics on manifolds with Euler\ncharacteristic not equal to 1, there do not exist globally stabilizing,\ncontinuous control laws. The MPC law is able to achieve global asymptotic\nstability on these manifolds, because the MPC law may be discontinuous. We\napply the method to spacecraft attitude control, where the spacecraft attitude\nevolves on the Lie group SO(3) and for which a continuous globally stabilizing\ncontrol law does not exist. In this case, the MPC law is discontinuous and\nachieves global stability.\n