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Theory of vertically trasverse functions and their application to control of critical mechanical systems.
(2009)
"En esta tesis se desarrolla y analiza una metodología teórica para atacar la estabilización práctica de configuraciones para sistemas de segundo orden descritos en grupos de Lie. En particular, esta clase de sistemas ...
Vertical transversality and its applications to control of mechanical systems
(2005)
"The transverse control approach proposed by Morin and Samson is a technique based on the use of transverse functions to practically stabilize controllable driftless systems. This control technique is able to cope with ...
Control of mechanical systems on Lie groups based on vertically transverse functions
(2008-06)
"The transverse function approach to control provides a unified setting to deal with practical stabilization and tracking of arbitrary trajectories for controllable driftless systems. Controllers derived from that approach ...