3 papers
eess.SY2025
Numerical Discretization Schemes that Preserve Flatness
Ashutosh Jindal, Florentina Nicolau, David Martin Diego +1
Differential flatness serves as a powerful tool for controlling continuous time nonlinear systems in problems such as motion planning and trajectory tracking. A similar notion, cal…
eess.SY2024
Feedback Linearizable Discretizations of Second Order Mechanical Systems using Retraction Maps
Shreyas N. B., David Martin Diego, Ravi Banavar
Mechanical systems are most often described by a set of continuous-time, nonlinear, second-order differential equations (SODEs) of a particular structure governed by the covariant…
eess.SY2024
Constructing Dynamic Feedback Linearizable Discretizations
Ashutosh Jindal, Florentina Nicolau, David Martin Diego +1
Dynamic feedback linearization-based methods allow us to design control algorithms for a fairly large class of nonlinear systems in continuous time. However, this feature does not…