A Lie-algebra error-state linearization plus least-squares parameter identification and LQR is proposed for adaptive rigid-body trajectory tracking under mass and inertia uncertainty.
Linear quadratic zonotopic control of switched systems: Application to autonomous vehicle path-tracking,
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Lie-algebra Adaptive Tracking Control for Rigid Body Dynamics
A Lie-algebra error-state linearization plus least-squares parameter identification and LQR is proposed for adaptive rigid-body trajectory tracking under mass and inertia uncertainty.