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This paper suggests the idea of a universal method for stabilizing discrete-time hybrid switched-control systems of robot manipulators. The core of this idea is based on an on-line trajectory generation algorithm that is able to generate continuous command variables from any arbitrary state of motion. We define a measurable criterion to on-line detect an instability or a potential instability of the...
This contribution introduces a generic framework for sensor-based robot motion control. The key contribution is the introduction of an adaptive selection matrix for sensor-based hybrid switched-system control. The overall control system consists of multiple sensors and open- and closed-loop controllers, in-between which the adaptive selection matrix can switch discretely in order to supply command...
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