Model Predictive Tracking Control for Invariant Systems on Matrix Lie Groups via Stable Embedding into Euclidean Spaces

Abstract

For controller design for systems on manifolds embedded in Euclidean space, it is convenient to utilize a theory that requires a single global coordinate system on the ambient Euclidean space rather than multiple local charts on the manifold or coordinate-free tools from differential geometry. In this article, we apply such a theory to design model predictive tracking controllers for systems whose dynamics evolve on manifolds and illustrate its efficacy with the fully actuated rigid body attitude control system.