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ICRA
2010
IEEE
138views Robotics» more  ICRA 2010»
13 years 10 months ago
Kinematic control of nonholonomic mobile manipulators in the presence of steering wheels
— We consider the kinematic control problem for nonholonomic mobile manipulators (NMMs) whose base contains steering wheels. For all typical tasks, the steering velocity inputs o...
Alessandro De Luca, Giuseppe Oriolo, Paolo Robuffo...
SIAMCO
2000
75views more  SIAMCO 2000»
13 years 11 months ago
Feedback Stabilization and Lyapunov Functions
Given a locally defined, nondifferentiable but Lipschitz Lyapunov function, we construct a (discontinuous) feedback law which stabilizes the underlying system to any given toleran...
F. H. Clarke, Yu. S. Ledyaev, L. Rifford, R. J. St...
AUTOMATICA
2008
106views more  AUTOMATICA 2008»
13 years 11 months ago
Synchronizing linear systems via partial-state coupling
A basic result in synchronization of linear systems via output coupling is presented. For identical discrete-time linear systems that are detectable from their outputs and neutral...
S. Emre Tuna