Browsing Waterloo Research by Author "McCarthy, Philip James"
Now showing items 1-6 of 6
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Cardinality Constrained Robust Optimization Applied to a Class of Interval Observers
McCarthy, Philip James; Nielsen, Christopher; Smith, Stephen L. (IEEE, 2014-07-21)We propose a linear programming-based method of interval observer design for systems with uncertain but bounded model parameters and initial conditions. We assume that each uncertain parameter in the system model is bounded ... -
Global Sampled-Data Regulation of a Class of Fully Actuated Invariant Systems on Simply Connected Nilpotent Matrix Lie Groups
McCarthy, Philip James; Nielsen, Christopher (IEEE, 2021-02-09)We examine a regulator problem for a class of fully actuated continuous-time invariant systems on Lie groups, using a discrete-time controller with constant sampling period. We present a smooth discrete-time control law ... -
Global Stability of a Class of Difference Equations on Solvable Lie Algebras
McCarthy, Philip James; Nielsen, Christopher (Springer, 2020-06-17)Motivated by the ubiquitous sampled-data setup in applied control, we examine the stability of a class of difference equations that arises by sampling a right- or left-invariant flow on a solvable matrix Lie group. The map ... -
A Local Solution to the Output Regulation Problem for Sampled-Data Systems on Commutative Matrix Lie Groups
McCarthy, Philip James; Nielsen, Christopher (IEEE, 2018-08-16)We present a smooth nonlinear control law for a kinematic plant on commutative matrix Lie groups that achieves regulation, if the state tracking and estimation errors are initialized in a suitable neighbourhood of identity. ... -
Local synchronization of sampled-data systems on one-parameter Lie subgroups
McCarthy, Philip James; Nielsen, Christopher (IEEE, 2017-07-03)We present a distributed nonlinear control law for synchronization of identical agents on one-parameter Lie subgroups. If the agents are initialized sufficiently close to one another, then synchronization is achieved ... -
Passivity-Based Control of Sampled-Data Systems on Lie Groups with Linear Outputs
McCarthy, Philip James; Nielsen, Christopher (Elsevier, 2016-12-22)We present a method of stabilizing a sampled-data system that evolves on a matrix Lie group using passivity. The continuous-time plant is assumed passive with known storage function, and its passivity is preserved under ...