4 papers · 1 filter
A Weak Notion of Symmetry for Dynamical Systems
Jake Welde, Pieter van Goor
Many nonlinear dynamical systems exhibit symmetry, affording substantial benefits for control design, observer architecture, and data-driven control. While the classical notion of…
Scalable Distributed Nonlinear Control Under Flatness-Preserving Coupling
Fengjun Yang, Jake Welde, Nikolai Matni
We study distributed control for a network of nonlinear, differentially flat subsystems subject to dynamic coupling. Although differential flatness simplifies planning and control…
Learning Flatness-Preserving Residuals for Pure-Feedback Systems
Fengjun Yang, Jake Welde, Nikolai Matni
We study residual dynamics learning for differentially flat systems, where a nominal model is augmented with a learned correction term from data. A key challenge is that generic re…
Almost Global Asymptotic Trajectory Tracking for Fully-Actuated Mechanical Systems on Homogeneous Riemannian Manifolds
Jake Welde, Vijay Kumar
In this work, we address the design of tracking controllers that drive a mechanical system's state asymptotically towards a reference trajectory. Motivated by aerospace and robotic…