4 citations · 6 across the 12 of their papers we have counts for
6 papers · 1 filter
Log-linear Dynamic Inversion for Thrusting Spacecraft on SE2(3)
Micah K. Condie, Abigaile E. Woodbury, Li-Yu Lin +3
We demonstrate that the error dynamics of a thrusting spacecraft are nearly group affine on the Lie group, and the nonlinearity can be bounded, or removed with the applic…
Log-linear Backstepping control on
Li-Yu Lin, Benjamin Perseghetti, James Goppert
Most of the rigid-body systems which evolve on nonlinear Lie groups where Euclidean control designs lose geometric meaning. In this paper, we introduce a log-linear backstepping co…
Application of Log-Linear Dynamic Inversion Control to a Multi-rotor
Li-Yu Lin, James Goppert, Inseok Hwang
This paper presents an approach that employs log-linearization in Lie group theory and the Newton-Euler equations to derive exact linear error dynamics for a multi-rotor model, and…
A Closed-form Solution for the Strapdown Inertial Navigation Initial Value Problem
James Goppert, Li-Yu Lin, Kartik Pant +1
Strapdown inertial navigation systems (SINS) are ubiquitious in robotics and engineering since they can estimate a rigid body pose using onboard kinematic measurements without know…
Exploiting Sparsity for Localization of Large-Scale Wireless Sensor Networks
Shiraz Khan, Inseok Hwang, James Goppert
Wireless Sensor Network (WSN) localization refers to the problem of determining the position of each of the agents in a WSN using noisy measurement information. In many cases, such…
Log-linear Dynamic Inversion Control with Provable Safety Guarantees in Lie Groups
Li-Yu Lin, James Goppert, Inseok Hwang
In this paper, we use the derivative of the exponential map to derive the exact evolution of the logarithm of the tracking error for mixed-invariant systems, a class of systems cap…