Browsing University of Waterloo by Subject "geometric control"

Now showing items 1-3 of 3

Algorithmic Transverse Feedback Linearization

D'Souza, Rollen (University of Waterloo, 2022-04-26)

The feedback equivalence problem, that there exists a state and feedback transformation between two control systems, has been used to solve a wide range of problems both in linear and nonlinear control theory. Its significance ...
Sampled-Data Control of Invariant Systems on Exponential Lie Groups

McCarthy, Philip James (University of Waterloo, 2019-08-28)

This thesis examines the dynamics and control of a class of systems furnished by kinematic systems on exponential matrix Lie groups, when the plant evolves in continuous-time, but whose controller is implemented in ...
Stability Analysis and Formally Guaranteed Tracking Control of Quadrotors

Chang, Haocheng (University of Waterloo, 2024-06-19)

Reach-avoid tasks are among the most common challenges in autonomous aerial vehicle (UAV) applications. Despite the significant progress made in the research of aerial vehicle control during recent decades, the task of ...