Abstract: In this paper we examine the transverse geometry of control-affine systems. We point out the importance the singular set and of dynamics defined on submanifolds that are transverse to the control distribution. This setting is then used to compare the backstepping methodology for strict-feedback systems with our more general approach to nonlinear control design
“First Published in SIAM Journal on Control and Optimization in 2014, published by the Society for I...
In a geometric point of view, a nonlinear control system, affine in the controls, is thought of as a...
This paper investigates maneuver regulation for single input control affine sys-tems from a geometri...
In this thesis we study the problem of stabilizing smooth embedded submanifolds in the state space o...
Given a control-affine system and a controlled invariant submanifold, we present necessary and suffi...
We survey the basic theory, results, and applications of geometric control theory. A control system ...
Doosthoseini, A., & Nielsen, C. (2015). Local transverse feedback linearization for nested sets. 201...
D’Souza, R. S., & Nielsen, C. (2018). Dual Conditions for Local Transverse Feedback Linearization. 2...
Abstract — In this note the problem of feedback lineariz-ing dynamics transverse to controlled invar...
Abstract: This paper presents necessary and sufficient conditions for the local lin-earization of dy...
In this thesis we study a number of nonlinear control problems motivated by their appearance in flig...
This paper explores transverse coordinates for the purpose of orbitally stabilizing periodic motions...
International audienceIn this paper we are mainly interested in a generalization of backstepping non...
Abstract. Motivated by the ubiquity of control-affine systems in optimal control theory, we investig...
From a topological point of vien this work deals with the structure of a set of affine and controlla...
“First Published in SIAM Journal on Control and Optimization in 2014, published by the Society for I...
In a geometric point of view, a nonlinear control system, affine in the controls, is thought of as a...
This paper investigates maneuver regulation for single input control affine sys-tems from a geometri...
In this thesis we study the problem of stabilizing smooth embedded submanifolds in the state space o...
Given a control-affine system and a controlled invariant submanifold, we present necessary and suffi...
We survey the basic theory, results, and applications of geometric control theory. A control system ...
Doosthoseini, A., & Nielsen, C. (2015). Local transverse feedback linearization for nested sets. 201...
D’Souza, R. S., & Nielsen, C. (2018). Dual Conditions for Local Transverse Feedback Linearization. 2...
Abstract — In this note the problem of feedback lineariz-ing dynamics transverse to controlled invar...
Abstract: This paper presents necessary and sufficient conditions for the local lin-earization of dy...
In this thesis we study a number of nonlinear control problems motivated by their appearance in flig...
This paper explores transverse coordinates for the purpose of orbitally stabilizing periodic motions...
International audienceIn this paper we are mainly interested in a generalization of backstepping non...
Abstract. Motivated by the ubiquity of control-affine systems in optimal control theory, we investig...
From a topological point of vien this work deals with the structure of a set of affine and controlla...
“First Published in SIAM Journal on Control and Optimization in 2014, published by the Society for I...
In a geometric point of view, a nonlinear control system, affine in the controls, is thought of as a...
This paper investigates maneuver regulation for single input control affine sys-tems from a geometri...
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