Fully actuated second-order systems can globally exponentially stabilize any smooth vector field on compact manifolds to reproduce first-order dynamics; underactuated systems on manifolds with nonzero Euler characteristic cannot stabilize almost all such vector fields, including those with isolated
From Bundles to Backstepping: Geometric Control Barrier Functions for Safety-Critical Control on Mani- folds
2 Pith papers cite this work. Polarity classification is still indexing.
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SafePBDS uses pullback control barrier functions and a task manifold action interface to generate certifiably safe, steerable motions on high-DOF robots from objectives defined on arbitrary geometric spaces.
citing papers explorer
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Stabilizability of first-order dynamics in second-order systems
Fully actuated second-order systems can globally exponentially stabilize any smooth vector field on compact manifolds to reproduce first-order dynamics; underactuated systems on manifolds with nonzero Euler characteristic cannot stabilize almost all such vector fields, including those with isolated
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Safe and Steerable Geometric Motion Policies for Robotic Dexterous Manipulation
SafePBDS uses pullback control barrier functions and a task manifold action interface to generate certifiably safe, steerable motions on high-DOF robots from objectives defined on arbitrary geometric spaces.