Given a control-affine system and a controlled invariant submanifold, we present necessary and sufficient conditions for local feedback equivalence to a system whose dynamics tran...
We propose a constructive control design for stabilization of non-periodic trajectories of underactuated robots. An important example of such a system is an underactuated “dynam...
Ian R. Manchester, Uwe Mettin, Fumiya Iida, Russ T...
This article presents an approach to path following control design based on transverse feedback linearization. A "transversal" controller is designed to drive the output...
Christopher Nielsen, Cameron Fulford, Manfredi Mag...
This paper considers the task of closed curve filtering for visual tracking. Segmentation-based visual tracking strategies provide the closed curve measurements to filter. This pap...
This paper proposes a method in order to render passive discrete-time nonlinear multiple-input multiple-output (MIMO) systems which are affine in control. The methodology is base...