The Robotics Institute

Carnegie Mellon Robotics Institute

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract

Here we introduce a class of linear operators called recursive orthogonal transforms (ROTs) that allow a natural implementation on a distributed control network. We derive conditions under which ROTs can be used to represent SO(n) for n >= 4. We propose a paradigm for distributed feedback control based on plant matrix diagonalization. To find an ROT suitable for this task, we derive a gradient flow on the appropriate underlying Lie group. A numerical example is presented.

Keywords

distributed control, sensor/actuator arrays, signal processing, Lie groups, gradient flow

Notes

Number of pages: 10

Text Reference

George A. Kantor and P.S. Krishnaprasad, "An application of Lie groups in distributed control networks," Systems and Control Letters, Vol. 43, June, 2001, pp. 43-52.

BibTeX Reference

@article{Kantor_2001_3866,
   author = "George A Kantor and P.S. Krishnaprasad",
   title = "An application of Lie groups in distributed control networks",
   journal = "Systems and Control Letters",
   pages = "43-52",
   publisher = "Elsevier Science B.V.",
   address = "Holland",
   month = "June",
   year = "2001",
   volume = "43",
}

The Robotics Institute

Menu