Dynamic control of constrained mechanical systems, such as robotic manipulators under end-effector constraints, parallel manipulators, and multifingered robotic hands under closure...
Abstract--A new image-based control strategy for visual servoing of a class of under-actuated rigid body systems is presented. The proposed control design applies to "eye-in-h...
A dual neural network is presented for the bi-criteria kinematic control of redundant manipulators. To diminish the discontinuity of minimum infinity-norm solutions, the kinematicc...
In this paper, we study the interconnection of two robots, which are modeled as port-controlled Hamiltonian systems through a transmission line with time delay. There will be no an...
Stefano Stramigioli, Arjan van der Schaft, Bernhar...
This paper describes how decentralized control theory can be used to analyze the control of multiple cooperative robotic vehicles. Models of cooperation are discussed and related t...