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112
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CDC
2010
IEEE
14 years 10 months ago
2010
IEEE
Abstract-- This paper extends the method of virtual constraints and hybrid zero dynamics, developed for rigid robots with a single degree of underactuation, to MABEL, a planar bipe...
108
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AUTOMATICA
2005
15 years 3 months ago
2005
In this paper, by introducing the concept of command-to-state/output mapping, it is shown that the state of an uncertain nonlinear system can robustly be estimated if command-to-s...
122
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CDC
2008
IEEE
15 years 9 months ago
2008
IEEE
— This paper studies the coordinated motion of a group of agents evolving on a Lie group. Left- or rightinvariance with respect to the absolute position on the group lead to two ...
127
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ESANN
1998
15 years 4 months ago
1998
This paper presents two local methods for the control of discrete-time unknown nonlinear dynamical systems, when only a limited amount of input-output data is available. The modeli...
CDC
2008
IEEE
15 years 9 months ago
2008
IEEE
— A new dissipative method to design observers for a large class of nonlinear systems has been introduced recently by the author. It generalizes and includes several wellknown ob...