Browsing Engineering (Faculty of) by Subject "Feedback linearization"
Now showing items 1-3 of 3
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Dual Conditions for Local Transverse Feedback Linearization
(IEEE, 2019-01-21)Given a control-affine system and a controlled invariant submanifold, the local transverse feedback linearization problem is to determine whether or not the system is locally feedback equivalent to a system whose dynamics ... -
Robust Spline Path Following for Redundant Mechanical Systems
(University of Waterloo, 2015-05-20)Path following controllers make the output of a control system approach and traverse a pre-specified path with no a priori time-parametrization. The first part of the thesis implements a path following controller for a ... -
Synchronized closed path following for a differential drive and manipulator robot
(IEEE, 2016-05-23)We locally solve a synchronized path-following problem for a heterogeneous multiagent system consisting of a differential drive robot and a serial manipulator. Each is assigned a simple, regular, and closed curve in its ...