This work is focused on the motion control of an underactuated brachiation robot with 3 links. We present the modeling of the dynamics of the robot and introduce the application o...
For discrete-time linear time invariant systems with constraints on inputs and states, we develop an algorithm to determine explicitly, the state feedback control law which minimi...
Alberto Bemporad, Manfred Morari, Vivek Dua, Efstr...
Abstract— This paper is concerned with the robust stabilization of a class of stochastic large-scale systems. The uncertainties satisfy integral quadratic constraints. The random...
Junlin Xiong, Valery A. Ugrinovskii, Ian R. Peters...
: This paper deals with twisting motion of a falling cat robot by two torque inputs around her waist. The cat robot consists of two rigid columns and has internally two actuators a...
— In this paper, we present a systematic procedure for obtaining closed-loop stable output-feedback model predictive control based on reduced-order models. The design uses linear...