2020/04/01 by Valmik Prabhu, Prabhu, Valmik, Amay Saxena +3
Computer Science · Engineering · #Control and Stability of Dynamical Systems #Dynamics and Control of Mechanical Systems #FOS: Computer and information sciences #FOS: Electrical engineering #Robotic Mechanisms and Dynamics #Robotics (cs.RO) #Systems and Control (eess.SY) #cs.RO #cs.SY #eess.SY #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2004.00239
8 pages, four figures, submitted to CDC 2020
arxiv created 2020/04/01 · openalex publication_date 2020/04/01 · arxiv updated 2020/04/02 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
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.