Journals

  • P.J. McCarthy, C. Nielsen. ``Global Sampled-Data Regulation of a Class of Fully Actuated Invariant Systems on Simply Connected Nilpotent Matrix Lie Groups,'' IEEE Transactions on Automatic Control, DOI: 10.1109/TAC.2021.3058053.
  • R.S. D'Souza, R. Louwers, C. Nielsen. ``Piecewise-Linear Path Following for a Unicycle using Transverse Feedback Linearization,'' IEEE Transactions on Control Systems Technology, DOI: 10.1109/TCST.2021.3049715.
  • R.S. D'Souza, C. Nielsen. "An Exterior Differential Characterization of Single-Input Local Transverse Feedback Linearization," Automatica, DOI: 10.1016/j.automatica.2021.109493.
  • P.J. McCarthy, C. Nielsen. "Global Stability of a Class of Difference Equations on Solvable Lie Algebras," Mathematics of Control, Signals, and Systems, Vol. 32 (6) pp. 177--208; 2020. DOI: 10.1007/s00498-020-00259-7.
  • P.J. McCarthy, C. Nielsen. "Global Synchronization of Sampled-Data Invariant Systems on Exponential Lie Groups," IEEE Transactions on Control of Network Systems, Vol. 7 (3) pp. 1080--1089; 2020. DOI: 10.1109/TCNS.2019.2963019.
  • J.D. Simard, C. Nielsen, D.E. Miller. "Periodic Adaptive Stabilization of Rapidly Time-Varying Linear Systems," Mathematics of Control, Signals, and Systems, Vol. 31 (2) pp. 1--42; 2019. DOI: 10.1007/s00498-019-0236-6.
  • S. Alhalali, C. Nielsen, R. El-Shatshat. "Mitigation of cyber-physical attacks in multi-area automatic generation control," Electrical Power and Energy Systems, Vol. 112 (19) pp. 362--369; 2019. DOI:10.1016/j.ijepes.2019.05.014.
  • Y. Li, C. Nielsen. "Synchronized closed path following for a differential drive and manipulator robot," IEEE Transactions on Control Systems Technology, Vol. 25 (2) pp. 704--711; 2017. DOI:10.1109/TCST.2016.2562578.
  • R. Gill, D. Kulić, C. Nielsen. "Spline path following for redundant mechanical systems," IEEE Transactions on Robotics, Vol. 31 (6) pp. 1378--1392; 2015. DOI:10.1109/TRO.2015.2489502.
  • R.J.A. Baker, B. Leung, C. Nielsen. "Phase-locked loop stability based on stochastic bounds," Analog Integrated Circuits and Signal Processing, Vol. 85 (2) pp. 323--333; 2015. DOI:10.1007/s10470-015-0606-z.
  • A. Doosthoseini, C. Nielsen. "Local nested transverse feedback linearization," Mathematics of Control, Signals, and Systems, Vol. 27 (4) pp. 493--522; 2015. DOI:10.1007/s00498-015-0149-y.
  • A. Doosthoseini, C. Nielsen. "Coordinated path following of unicycles : A nested invariant sets approach," Automatica, Vol. 60 (October) pp. 17--29; 2015. DOI:10.1016/j.automatica.2015.06.033.
  • A. Akhtar, C. Nielsen, S.L. Waslander. "Path following using dynamic transverse feedback linearization for car-like robots," IEEE Transactions on Robotics, Vol. 31 (2) pp. 269--279; 2015. DOI:10.1109/TRO.2015.2395711.
  • C. Nielsen. "Transverse feedback linearization with partial information for single-input systems," SIAM Journal on Control and Optimization, Vol. 52 (5) pp. 3002--3021; 2014. DOI:10.1137/120900149.
  • M. Koldychev, C. Nielsen. "Local observers on linear Lie groups with linear estimation error dynamics," IEEE Transactions on Automatic Control, Vol. 59 (10) pp. 2772--2777; 2014. DOI:10.1109/TAC.2014.2310331.
  • A. Hladio, C. Nielsen, D. Wang. "Path following for a class of mechanical systems," IEEE Transactions on Control Systems Technology, Vol. 21 (6) pp. 2380--2390; 2013. DOI:10.1109/TCST.2012.2223470.
  • L. Consolini, M. Maggiore, C. Nielsen, M. Tosques. "Path following for the PVTOL aircraft," Automatica, Vol. 46 (8) pp. 1284--1296; 2010. DOI:10.1016/j.automatica.2010.05.014.
  • C. Nielsen, C. Fulford, M. Maggiore. "Path following using transverse feedback linearization: Application to a maglev positioning system," Automatica, Vol. 46 (3) pp. 585--590; 2010. DOI: 10.1016/j.automatica.2010.01.009.
  • C. Nielsen and M. Maggiore. "On local transverse feedback linearization," SIAM Journal on Control and Optimization, Vol. 47 (5) pp. 2227--2250; 2008. DOI:10.1137/070682125.
  • C. Nielsen and M. Maggiore. "Output stabilization and maneuver regulation: A geometric approach," Systems and Control Letters, Vol. 55 (5) pp. 418--427; May 2006. DOI:10.1016/j.sysconle.2005.09.006.

Conferences

  • O. Barrera Perez, B. Fidan, C. Nielsen. "Adaptive Path Following for an Underactuated Nonholonomic Mobile Manipulator," IFAC World Congress, Berlin, Germany, pp. 1--6; July 2020.
  • R.S. D'Souza, C. Nielsen. "Piecewise-Linear Path Following for a Unicycle Using Transverse Feedback Linearization," American Control Conference, Denver, CO, U.S.A., pp. 5250--5255; June 2020.
  • R.S. D'Souza, C. Nielsen. "Dual Conditions for Local Transverse Feedback Linearization," IEEE Conf. on Decision and Control, Miami, FL, U.S.A., pp. 2938--2943; December 2018.
  • M. Steinfeld, C. Nielsen. "Synchronized path following for LTI systems and closed paths: Laboratory implementation," IEEE International Conf. on Control and Automation, Anchorage, AK, U.S.A., pp. 435--440; June 2018.
  • P.J. McCarthy, C. Nielsen. "A Local Solution to the Output Regulation Problem for Sampled-Data Systems on Commutative Matrix Lie Groups," American Control Conference, Milwaukee, WI, U.S.A., pp. 6055--6060; June 2018.
  • P.J. McCarthy, C. Nielsen. "Local Synchronization of Sampled-Data Systems on One-Parameter Lie Subgroups," American Control Conference, Seattle, WA, U.S.A., pp. 3914--3919; June 2017.
  • P.J. McCarthy, C. Nielsen. "Passivity-based control of sampled-data systems on Lie groups with linear outputs," IFAC Symposium on Nonlinear Control Systems, Monterey, CA, U.S.A., Vol 49 (18) pp. 6262--6267; August 2016.
  • A. Doosthoseini, C. Nielsen. "Local transverse feedback linearization for nested sets," IEEE Conf. on Decision and Control, Osaka, Japan, pp. 7783 - 7788; December 2015.
  • M. Al Lawati, C. Nielsen. "Hybrid virtual holonomic constraints for 2-D.O.F. bipedal robots," IEEE Canadian Conference on Electrical and Computer Engineering, Halifax, NS, Canada pp. 320 - 325; May 2015.
  • P.J. McCarthy, C. Nielsen, S.L. Smith. "Cardinality constrained robust optimization applied to a class of interval observers," American Control Conference, Portland, OR, U.S.A., pp. 5337 - 5342; June 2014.
  • Y. Li, C. Nielsen. "Position synchronized path following for a mobile robot and a robotic manipulator and closed paths," IEEE Conf. on Decision and Control, Florence, Italy, pp. 3541 - 3546; December 2013.
  • A. Doosthoseini, C. Nielsen. "Coordinated path following for a multi-agent system of unicycles," IEEE Conf. on Decision and Control, Florence, Italy, pp. 2894 - 2899; December 2013.
  • A. Akhtar, S. Waslander, C. Nielsen. "Fault tolerant path following for a quadrotor using transverse feedback linearization," IEEE Conf. on Decision and Control, Florence, Italy, pp. 847 - 852; December 2013.
  • R. Gill, D. Kulić , C. Nielsen. "Robust path following implemented on a 4-DOF robotic manipulator," IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, pp. 3412 - 3418; November 2013.
  • A. Mahdipour-Shirayeh, C. Nielsen. ``Transverse feedback linearization and exterior differential systems,'' International Conference : Applied Mathematics, Modeling and Computational Science, Waterloo, ON., Canada, August 2013.
  • P.J. McCarthy, C. Nielsen, S.L. Smith. "A nonlinear impulsive observer for diesel engine emissions reduction," American Control Conference, Washington D.C., U.S.A., pp. 1063 - 1068; June 2013.
  • A. Akhtar, C. Nielsen, S. Waslander. "Path following for a quadrotor using dynamic extension and transverse feedback linearization," IEEE Conf. on Decision and Control, Maui, HI, U.S.A., pp. 3551 - 3556; December 2012.
  • M. Koldychev, C. Nielsen. "Local full-state observers for systems on linear Lie groups," IEEE Conf. on Decision and Control, Maui, HI, U.S.A., pp. 5918 - 5923; December 2012.
  • K. Walker, C. Nielsen, D. Wang. "The effects of constraint curvature on projective and set stabilization controllers," IEEE/RSJ International Conference on Intelligent Robots and Systems, Algarve, Portugal, pp. 1481 - 1486; Oct 2012.
  • A. Akhtar, C. Nielsen. "Path following for a car-like robot using transverse feedback linearization and tangential dynamic extension," IEEE Conf. on Decision and Control, Orlando, FL, U.S.A., pp. 7974 - 7979; December 2011.
  • A. Hladio, C. Nielsen, D. Wang. "Path following controller design for a class of mechanical systems," IFAC World Congress, Milano, Italy, pp. 10331 - 10336; September 2011.
  • A. Hladio, C. Nielsen, D. Wang. "Path following for mechanical systems: Experiments and examples," American Control Conference, San Francisco, CA, U.S.A., pp. 551 - 556; June 2011.
  • Y. Rizwan, S. Waslander, C. Nielsen. "Nonlinear aircraft modeling and controller design for target tracking," American Control Conference, San Francisco, CA, U.S.A., pp. 3191 - 3196; June 2011.
  • C. Nielsen, C. Fulford, M. Maggiore. "Path following using transverse feedback linearization: Application to a maglev positioning system," American Control Conference, St. Louis, MO, U.S.A., pp 3045 - 3050; June 2009.
  • L. Consolini, M. Maggiore, M. Tosques, C. Nielsen. "On the solution of the path following problem for the PVTOL aircraft," American Control Conference, St. Louis, MO, U.S.A., pp. 3051 - 3056; June 2009.
  • C. Nielsen, L. Consolini, M. Maggiore, M. Tosques. "Path following for the PVTOL: A set stabilization approach," IEEE Conf. on Decision and Control, Cancun, Mexico, pp. 584 - 589; 2008.
  • C. Nielsen and M. Maggiore. "Further results on local transverse feedback linearization of multi-input systems," IEEE Conf. on Decision and Control, San Diego, CA, U.S.A., pp. 3819 - 3824; December 2006.
  • C. Nielsen and M. Maggiore. "Transverse feedback linearization of multi-input systems," IEEE Conf. on Decision and Control, Seville, Spain, pp. 4897 - 4902; December 2005.
  • C. Nielsen and M. Maggiore. "Maneuver regulation via transverse feedback linearization: Theory and examples," Semi-plenary presentation at the IFAC Symposium on Nonlinear Control Systems, Stuttgart, Germany, Vol.1 pp. 59 - 66; September 2004.
  • C. Nielsen and M. Maggiore. "Maneuver regulation, transverse feedback linearization, and zero dynamics," Mathematical Theory of Networks and Systems, Leuven, Belgium, July 2004.

Book Chapters

  • R. Gill, D. Kulić, C. Nielsen. "Path following for mobile manipulators," In: Bicchi A., Burgard W. (eds) Robotics Research. Springer Proceedings in Advanced Robotics, vol 3. Springer. 2018. DOI: 10.1007/978-3-319-60916-4_30.

Videos

  • Multi-spline path following for kinematically redundant robotic manipulators: 59 MB
  • Robust path following based on transverse feedback linearization applied to a robotic manipualtor: 1.3 MB
  • Set stabilization and path following controllers applied to the maglev system: 15 MB