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This paper illustrates the practical application of non-iterative correlation-based tuning with guaranteed stability. In this method, a sufficient condition for closed-loop stability is defined as the H∞-norm of a particular error function. This norm is then estimated using data from one closed-loop experiment. The method is applied to a pick-and-place robot. It is shown that the proposed constraints...
The goal of this paper is to answer (i) how the stabilization performance of a biped controller can be evaluated on a certain invariant supporting region, (ii) how the standing stabilizer which performs the best on a given supporting region can be designed, (iii) how the system can be judged if it is stabilizable by the best standing stabilizer without deforming the current supporting region, and...
The variable time delay and the packet loss degrade the performance of Internet based teleoperation system severely, even make the system unstable. Most of the previous work on Internet-based teleoperations rest on many assumptions, for example, time delay is constant or has upper bound, control is not in real-time. This paper presents a new predictive control strategy for the Internet based teleoperation...
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