4 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…