— This paper introduces stochastic port-Hamiltonian systems and clarifies some of their properties. Stochastic portHamiltonian systems are extension of port-Hamiltonian systems ...
Abstract--This paper presents an iterative learning scheme for visionguided robot trajectory tracking. At first, a stability criterion for designing iterative learning controller i...
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...
Aneesh Venkatraman, Romeo Ortega, Ioannis Sarras, ...
— In this paper, we address a motion synchronization problem in SE(3) and present a novel passivity based visual feedback system. Though a passivity based control law to achieve ...
— The nonlinear robust stability theory of Georgiou and Smith (IEEE Trans. Auto. Control, 42(9):1200–1229, 1997) is generalized to the case of notions of stability with bias te...