30 citations · 35 across the 4 of their papers we have counts for
4 papers
On Observer-based Asymptotic Stabilization of Non-uniformly Observable Systems via Hybrid and Smooth Control: a Case Study
Mohamed Maghenem, William Pasillas-Lépine, Antonio Loría +1
For systems that are not observable at the very equilibrium of interest to be stabilized, output-feedback stabilization is considerably challenging. In this paper we solve this con…
Nilpotentization of the kinematics of the n-trailer system at singular points and motion planning through the singular locus
William Pasillas-Lepine, Witold Respondek
We propose in this paper a constructive procedure that transforms locally, even at singular configurations, the kinematics of a car towing trailers into Kumpera-Ruiz normal form. T…
Contact systems and corank one involutive subdistributions
William Pasillas-Lepine, Witold Respondek
We give necessary and sufficient geometric conditions for a distribution (or a Pfaffian system) to be locally equivalent to the canonical contact system on Jn(R,Rm), the space of n…
On the geometry of Goursat structures
William Pasillas-Lepine, Witold Respondek
A Goursat structure on a manifold of dimension n is a rank two distribution D such that dim D(i)=i+2, for i=0,...,n-2, where D(i) denotes the derived flag of D, which is defined by…