Jake Welde
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View article: Learning Flatness-Preserving Residuals for Pure-Feedback Systems
Learning Flatness-Preserving Residuals for Pure-Feedback Systems Open
We study residual dynamics learning for differentially flat systems, where a nominal model is augmented with a learned correction term from data. A key challenge is that generic residual parameterizations may destroy flatness, limiting the…
View article: Leveraging Symmetry to Accelerate Learning of Trajectory Tracking Controllers for Free-Flying Robotic Systems
Leveraging Symmetry to Accelerate Learning of Trajectory Tracking Controllers for Free-Flying Robotic Systems Open
Tracking controllers enable robotic systems to accurately follow planned reference trajectories. In particular, reinforcement learning (RL) has shown promise in the synthesis of controllers for systems with complex dynamics and modest onli…
View article: Almost Global Asymptotic Trajectory Tracking for Fully-Actuated Mechanical Systems on Homogeneous Riemannian Manifolds
Almost Global Asymptotic Trajectory Tracking for Fully-Actuated Mechanical Systems on Homogeneous Riemannian Manifolds Open
In this work, we address the design of tracking controllers that drive a\nmechanical system's state asymptotically towards a reference trajectory.\nMotivated by aerospace and robotics applications, we consider fully-actuated\nsystems evolv…
View article: The Role of Symmetry in Constructing Geometric Flat Outputs for Free-Flying Robotic Systems
The Role of Symmetry in Constructing Geometric Flat Outputs for Free-Flying Robotic Systems Open
Mechanical systems naturally evolve on principal bundles describing their inherent symmetries. The ensuing factorization of the configuration manifold into a symmetry group and an internal shape space has provided deep insights into the lo…
View article: A Compositional Approach to Certifying Almost Global Asymptotic Stability of Cascade Systems
A Compositional Approach to Certifying Almost Global Asymptotic Stability of Cascade Systems Open
In this letter, we give sufficient conditions for the almost global asymptotic stability of a cascade in which the subsystems are only almost globally asymptotically stable. The result is extended to upper triangular systems of arbitrary s…
View article: Towards Automatic Identification of Globally Valid Geometric Flat Outputs via Numerical Optimization
Towards Automatic Identification of Globally Valid Geometric Flat Outputs via Numerical Optimization Open
Differential flatness enables efficient planning and control for underactuated robotic systems, but we lack a systematic and practical means of identifying a flat output (or determining whether one exists) for an arbitrary robotic system. …