Browsing Engineering (Faculty of) by Author "Doosthoseini, Alireza"
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Coordinated path following of unicycles : A nested invariant sets approach
Doosthoseini, Alireza; Nielsen, Christopher (Elsevier, 2015)We formulate a coordinated path following problem for N unicycle mobile robots as an instance of a nested set stabilization problem. Stabilization of the first set corresponds to driving the unicycles to their assigned ... -
Coordinated path following: A nested invariant sets approach
Doosthoseini, Alireza (University of Waterloo, 2015-05-20)In this thesis we study a coordinated path following problem for multi-agent systems. Each agent is modelled by a smooth, nonlinear, autonomous, deterministic control-affine ordinary differential equation. Coordinated ... -
Local nested transverse feedback linearization
Doosthoseini, Alireza; Nielsen, Christopher (Springer, 2015-08-29)We study two local feedback equivalence problems for a nonlinear control-affine system with two nested, controlled-invariant, embedded submanifolds in its state space. The first, less restrictive, result gives necessary ... -
Local transverse feedback linearization for nested sets
Doosthoseini, Alireza; Nielsen, Christopher (IEEE, 2016-02-11)We study a local feedback equivalence problem for a nonlinear control-affine system with two nested, controlled invariant, embedded submanifolds in its state space. The main result of this paper gives necessary and sufficient ...