Passivity monitor and software limiter which guarantee asymptotic stability of robot control systems.

Katsuya Kanaoka Tsuneo Yoshikawa

Published in: ICRA (2003)

Keyphrases

asymptotic stability
closed loop
control system
trajectory tracking
sufficient conditions
control law
real time
mobile robot
sliding mode
force control
vision system
control scheme
real environment
real robot
autonomous robots
real time control
humanoid robot
control algorithm
multi robot
path planning
delay dependent