persistency of excitation (2008)
Antoine Chaillet, Yacine Chitour, Antonio Loría, Mario Sigalotti
Towards uniform linear time-invariant stabilization of systems with
UNITING CONTROLLERS FOR ROBUST OUTPUT STABILIZATION (2008)
Denis V. Efimov, Elena Panteley, Antonio Loría
Abstract—Based on dwell-time and hysteresis-based supervisors, we propose two solutions to the problem of uniting several controllers for switched nonlinear systems; a comparison of these...
Chaillet, Antoine, Chitour, Yacine, Loría, Antonio, Sigalotti, Mario
Consider the controlled system $dx/dt = Ax + \alpha(t)Bu$ where the pair $(A,B)$ is stabilizable and $\alpha(t)$ takes values in $[0,1]$ and is persistently exciting, i.e., there exist two positive...
Chaillet, Antoine, Chitour, Yacine, Loría, Antonio, Sigalotti, Mario
Consider the controlled system $dx/dt = Ax + \alpha(t)Bu$ where the pair $(A,B)$ is stabilizable and $\alpha(t)$ takes values in $[0,1]$ and is persistently exciting, i.e., there exist two positive...
Chaillet, Antoine, Chitour, Yacine, Loría, Antonio, Sigalotti, Mario
Consider the controlled system $dx/dt = Ax + \alpha(t)Bu$ where the pair $(A,B)$ is stabilizable and $\alpha(t)$ takes values in $[0,1]$ and is persistently exciting, i.e., there exist two positive...
Teel “Summability criteria for stability of sets for sampled-data nonlinear inclusions (2006)
Antonio Loría, Elena Panteley, Andrew R. Teel
Abstract — We present sufficient conditions for stability of parameterized difference inclusions that involve various summability criteria on functions of the trajectories of the system, to...
Antonio Loría, Thor I. Fossen, Andrew Teel
Nonlinear, adaptive backstepping design is applied to the tracking control problem for a class of mechanical systems with constant disturbances. The adaptive algorithm provides integral action that...
A Class of Output Feedback Globally Stabilizing Controllers for Flexible Joints Robots (1995)
Romeo Ortega, Rafael Kelly, Antonio Loría
In this paper we characterize a class of passivity-based regulators for robot manipulators which, without assuming velocity measurement, aims at modifying the total energy of the closed loop and...
On Passivity-Based Output Feedback Global Stabilization Of Euler-Lagrange Systems (1994)
Romeo Ortega, Antonio Loría, Rafael Kelly, Laurent Praly
It is well known that in systems described by Euler-Lagrange equations the stability of the equilibria is determined by the potential energy function. Further, these equilibria are asymptotically...