55 search results - page 1 / 11 » Control of underactuated mechanical systems: Observer design... |
CDC
2008
IEEE
13 years 6 months ago
2008
IEEE
We identify a class of mechanical systems for which a globally exponentially stable reduced order observer can be designed. The class is characterized by (the solvability of) a set...
ICRA
2003
IEEE
13 years 10 months ago
2003
IEEE
Based on a recently developed ”generalized averaging theory,” we present a generic approach for the design of stabilizing feedback controllers for biomimetic locomotive systems...
AUTOMATICA
2000
13 years 4 months ago
2000
This paper describes a systematic procedure to exponentially stabilize relative equilibria of mechanical systems. We review the notion of relative equilibria and their stability i...
TROB
2010
12 years 11 months ago
2010
The property of form-closure of a grasp, as generally defined in the literature, is based on the assumption that contact points between the hand and the object are fixed in space. ...
SIAMCO
2008
13 years 4 months ago
2008
In this paper we address stabilization of a network of underactuated mechanical systems with unstable dynamics. The coordinating control law stabilizes the unstable dynamics with ...