Browsing Engineering (Faculty of) by Subject "passivity"
Now showing items 1-2 of 2
-
Passivity-Based Control of Sampled-Data Systems on Lie Groups with Linear Outputs
(Elsevier, 2016-12-22)We present a method of stabilizing a sampled-data system that evolves on a matrix Lie group using passivity. The continuous-time plant is assumed passive with known storage function, and its passivity is preserved under ... -
Smart Exercise Adaptive Control of a Three Degree of Freedom Upper-limb Manipulator Robot
(University of Waterloo, 2021-09-15)An adaptive velocity field controller for robotic manipulators is proposed in this thesis. The control objective is to cause the user to exercise in a manner that optimizes a criterion related to the user’s mechanical ...