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cs.RO2023
Towards Automatic Identification of Globally Valid Geometric Flat Outputs via Numerical Optimization
Jake Welde, Vijay Kumar
Differential flatness enables efficient planning and control for underactuated robotic systems, but we lack a systematic and practical means of identifying a flat output (or determ…
math.OC2023
A Compositional Approach to Certifying the Almost Global Asymptotic Stability of Cascade Systems
Jake Welde, Matthew D. Kvalheim, Vijay Kumar
In this work, we give sufficient conditions for the almost global asymptotic stability of a cascade in which the subsystems are only almost globally asymptotically stable. The resu…