Browsing Waterloo Research by Subject "Manifolds"
Now showing items 1-5 of 5
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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 ... -
Hybrid Virtual Holonomic Constraints for a 2-D.O.F. Bipedal Robot
(IEEE, 2015-06-25)We apply virtual holonomic constraints (VHCs) to a fully actuated Euler-Lagrange system with impacts : a bipedal walking robot consisting of a stance leg, swing leg and hip mass. We call these hybrid virtual holonomic ... -
A Local Solution to the Output Regulation Problem for Sampled-Data Systems on Commutative Matrix Lie Groups
(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 transverse feedback linearization for nested sets
(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 ... -
Path following using dynamic transverse feedback linearization for car-like robots
(IEEE, 2015-02-16)This paper presents an approach for designing path following controllers for the kinematic model of car-like mobile robots using transverse feedback linearization with dynamic extension. This approach is applicable to ...