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...
Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis...
— The ballbot is a dynamically stable mobile robot that moves on a single spherical wheel and is capable of omnidirectional movement. The ballbot is an underactuated system with ...
Umashankar Nagarajan, George Kantor, Ralph L. Holl...
Stability is one of the most important subjects in control systems. As for the stability of nonlinear dynamical systems, Lyapunov’s direct method and linearized stability analys...
In this paper, the problem of decentralized adaptive output-feedback stabilization is investigated for large-scale stochastic nonlinear systems with three types of uncertainties, ...
This paper presents a novel mechanism for dynamic rate control of prioritised Voice Over IP (VoIP) traffic in real time. The system uses our proposed variable bit rate speech codec...