3 papers
math.OC2026
Nonquadratic global asymptotic stability certificates for saturated linear feedbacks
Andrea Cristofaro, Luca Zaccarian
We establish sufficient conditions for positive (semi-)definiteness, with or without radial unboundedness, for nonquadratic Lyapunov function constructed as sign-indefinite quadrat…
cs.RO2024
Modelling and Hovering Stabilisation of a Free-Rotating Wing UAV
Florian Sansou, Gautier Hattenberger, Luca Zaccarian +2
We propose a multibody model of a freewing UAV. This model allows obtaining simulations of the UAV's behaviour and, in the future, to design a control law stabilising the entire fl…
eess.SY2024
Hybrid Lyapunov-based feedback stabilization of bipedal locomotion based on reference spreading
Riccardo Bertollo, Gianni Lunardi, Andrea Del Prete +1
We propose a hybrid formulation of the linear inverted pendulum model for bipedal locomotion, where the foot switches are triggered based on the center of mass position, removing t…