Add to ORKGA general family of asymptotically stabilizing control laws is introduced for a class of nonlinear Hamiltonian systems. The inherent passivity property of this class of systems and the Passivity Theorem are used to show the closed-loop input/output stability which is then related to the internal state space stability through the stabilizability and detectability condition. Applications of these results include fully actuated robots, flexible joint robots, and robots with link flexibility
This paper introduces a novel control approach for motion tracking and damping assignment in complia...
The problem of controlling a class of nonlinear multibody flexible space systems consisting of a fle...
Based on recent advances in contraction methods in systems and control, in this paper we present the...
A general family of asymptotically stabilizing control laws is introduced for a class of nonlinear H...
A passivity and Lyapunov based approach for the control design for the trajectory tracking problem o...
Existing dynamic output feedback stabilisation techniques of non-linear systems are applicable mainl...
The main goal is to develop a general theory for the control of flexible robots, including flexible ...
Using some recent nonlinear controller design techniques, we derive, and compare, several globally s...
This article describes several approaches for tuning the parameters of a class of passivity-based co...
A generic nonlinear math model of a multibody flexible system is developed. Asymptotic stability of ...
In the past, several motion and force controls were successfully implemented on rigid-joint robots w...
Motivated by applications of systems interacting with their environments, we study the design of pas...
This manuscript introduces a passivity-based integral control approach for fully-actuated mechanical...
The Lagrangian equations for distributed-parameter systems based on Hamilton's principle are develop...
Control for flexible-link robots is a non-trivial problem that has elevated difficulty comparing to ...
This paper introduces a novel control approach for motion tracking and damping assignment in complia...
The problem of controlling a class of nonlinear multibody flexible space systems consisting of a fle...
Based on recent advances in contraction methods in systems and control, in this paper we present the...
A general family of asymptotically stabilizing control laws is introduced for a class of nonlinear H...
A passivity and Lyapunov based approach for the control design for the trajectory tracking problem o...
Existing dynamic output feedback stabilisation techniques of non-linear systems are applicable mainl...
The main goal is to develop a general theory for the control of flexible robots, including flexible ...
Using some recent nonlinear controller design techniques, we derive, and compare, several globally s...
This article describes several approaches for tuning the parameters of a class of passivity-based co...
A generic nonlinear math model of a multibody flexible system is developed. Asymptotic stability of ...
In the past, several motion and force controls were successfully implemented on rigid-joint robots w...
Motivated by applications of systems interacting with their environments, we study the design of pas...
This manuscript introduces a passivity-based integral control approach for fully-actuated mechanical...
The Lagrangian equations for distributed-parameter systems based on Hamilton's principle are develop...
Control for flexible-link robots is a non-trivial problem that has elevated difficulty comparing to ...
This paper introduces a novel control approach for motion tracking and damping assignment in complia...
The problem of controlling a class of nonlinear multibody flexible space systems consisting of a fle...
Based on recent advances in contraction methods in systems and control, in this paper we present the...