Learning-Based Geometric Tracking Control for Rigid Body Dynamics

Jiawei Tang

doi:10.1109/LSP.2025.3631429

Learning-Based Geometric Tracking Control for Rigid Body Dynamics

2025-01-01

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DOI：10.1109/LSP.2025.3631429

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This letter investigates learning-based geometric tracking control for rigid body dynamics without precise system model parameters. Our approach leverages recent advancements in geometric optimal control and data-driven techniques to develop a learning-based tracking solution. By adopting Lie algebra formulation to transform tracking dynamics into a vector space, we estimate unknown parameters from data, achieving robust and efficient learning. Compared to existing learning-based methods, our approach ensures geometric consistency and delivers superior tracking accuracy. The simulation results validate the effectiveness of our method.

Keywords:

Learning-based method

tracking control

Lie algebra

rigid body dynamics

Learning-Based Geometric Tracking Control for Rigid Body Dynamics

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