In this paper, we develop multiple synergistic hybrid feedback control laws for mechanical
systems on matrix Lie groups with left-invariant metrics. With the goal of globally …

Synergistic hybrid feedback refers to a collection of feedback laws that allow for global
asymptotic stabilization of a compact set through the following switching logic: given a …

This paper explores the design of hybrid feedback for a class of affine nonlinear systems
with topological constraints that prevent global asymptotic stability. A new hybrid control …

This paper explores the design of hybrid feedback for a class of affine nonlinear systems
with topological constraints that prevent global asymptotic stability. A new hybrid control …

This thesis presents contributions to the mathematical modeling of underwater vehicles and
nonlinear hybrid feedback control. We present a matrix Lie group formulation of the standard …

This thesis presents new results and solutions for prioritized control of robotic systems and
hybrid feedback control of marine and aerial vehicles. We introduce a novel task-priority …