34 citations · 41 across the 7 of their papers we have counts for
7 papers
An Algorithm for Local Transverse Feedback Linearization
Rollen S. D'Souza, Christopher Nielsen
Given a multi-input, nonlinear, time-invariant, control-affine system and a controlled invariant, closed, embedded submanifold , the local transverse feedback lineariza…
Global Stability of a Class of Difference Equations on Solvable Lie Algebras
Philip James McCarthy, Christopher Nielsen
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 fl…
Local Synchronization of Sampled-Data Systems on Lie Groups
Philip James McCarthy, Christopher Nielsen
We present a smooth distributed nonlinear control law for local synchronization of identical driftless kinematic agents on a Cartesian product of matrix Lie groups with a connected…
Exponential Stability and the Markus-Yamabe Conjecture in Compact Spaces
Ravi Mazumdar, Christopher Nielsen, Arpan Mukhopadhyay
In this note we show that if a continuous-time, nonlinear, time-invariant, finite-dimensional system evolves on a compact subset of Rn and if the Jacobian of the vector field is Hu…
Spline Path Following for Redundant Mechanical Systems
Rajan Gill, Dana Kulić, Christopher Nielsen
Path following controllers make the output of a control system approach and traverse a pre-specified path with no apriori time parametrization. In this paper we present a method fo…
Transverse feedback linearization with partial information for single-input systems
Christopher Nielsen
This paper is motivated by the problem of asymptotically stabilizing invariant sets in the state space of control systems by means of output feedback. The sets considered are smoot…
Local observers on linear Lie groups with linear estimation error dynamics
Mikhail Koldychev, Christopher Nielsen
This paper proposes local exponential observers for systems on linear Lie groups. We study two different classes of systems. In the first class, the full state of the system evolve…