— In this paper we explore the stabilization of closed invariant sets for passive systems, and present conditions under which a passivity-based feedback makes the set stable, sem...
— Given an unforced nonlinear system and two nested closed and invariant sets Γ ⊂ O, we present reduction principles allowing one to extrapolate the properties of stability, a...
— We propose a novel switching control law for the posture stabilization of a wheeled mobile robot, that utilizes the (energetic) passivity of the system’s open-loop dynamics w...
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 work, teleoperated nanomanipulation with force feedback is demonstrated by using an atomic force microscope on the slave side and a haptic device on the master side. Th...