Robust stability and control for systems that combine continuous-time and discrete-time
dynamics. This article is a tutorial on modeling the dynamics of hybrid systems, on the …

In this chapter we present a state space interpretation of the small gain and passivity
approach of the previous chapter. Moreover, we will come to some kind of synthesis …

Constructive Nonlinear Control presents a broad repertoire of constructive nonlinear
designs not available in other works by widening the class of systems and design tools …

This book presents a modern and self-contained treatment of the Liapunov method for
stability analysis, in the framework of mathematical nonlinear control theory. A Particular …

By the dawn of the new millennium, robotics has undergone a major transf-mation in scope
and dimensions. This expansion has been brought about by the maturity of the? eld and the …

We propose a new approach for dynamic control of redundant manipulators to deal with
multiple prioritized tasks at the same time by utilizing null space projection techniques. The …

The control of a robot in its task space is a standard approach nowadays. If the system is
kinematically redundant with respect to this goal, one can even execute additional subtasks …

This paper focuses on the stability analysis of systems having a continuum of equilibria. Two
notions that are of particular relevance to such systems are convergence and semistability …

An image-based" eye-in-hand" visual servo-control design is proposed for underactuated
rigid-body dynamics. The dynamic model considered is motivated by recent work on vertical …

We present a solution to the following reduction problem for asymptotic stability of closed
sets in nonlinear systems. Given two closed, positively invariant subsets of the state space of …