### Show only items where

#### Struttura protesica per amputazione mano

 Title Struttura protesica per amputazione mano Publication Type Miscellaneous Year of Publication 2013 Authors Bacchereti, M, Carbonaro, N, Mura, DG, FERRETTI, L, PELLICCI, G, Tognetti, A, Vitetta, N

#### Integral Input to State Stable systems in cascade

 Title Integral Input to State Stable systems in cascade Publication Type Miscellaneous Year of Publication 2005 Authors Chaillet, A, Angeli, D Keywords Robotics Abstract The Integral Input to State Stability (iISS) property is studied is the context of nonlinear time-invariant systems in cascade. A sufficient condition is given, in terms of the storage function of each subsystem, to ensure that the cascade composed of an iISS system driven by a Globally Asymptotically Stable (GAS) one remains GAS. Some sufficient conditions for the preservation of the iISS property under a cascade interconnection are also presented.

#### Decentralized Intrusion Detection in Cooperative Multi-Agent Systems

 Title Decentralized Intrusion Detection in Cooperative Multi-Agent Systems Publication Type Miscellaneous Year of Publication 2007 Authors Fagiolini, A, Pallottino, L, Dini, G Keywords Embedded Control, Robotics Abstract We address the problem of detecting faulty behaviors of robots belonging to a multi-agent system. Our objective is to develop a scalable architecture that can be adopted to realize a completely decentralized intrusion detector monitoring the agents' behavior. We want the solution to be independent from the set of rules'' describing the interaction among the agents, and from their dynamics; (non-invasive) mainly based on HW/SW components that are already present on-board of each agent. We focus on systems with decentralized cooperation schemes where cooperation is obtained by sharing a set of rules'' by which each agent plans its next action'' and where some of the agents may act not according to the rules due to spontaneous failure, tampering, or malicious introduction. Notes Poster Presentation

#### Uniform stabilization for linear systems with persistency of excitation. The neutrally stable and the double integrator cases

 Title Uniform stabilization for linear systems with persistency of excitation. The neutrally stable and the double integrator cases Publication Type Miscellaneous Year of Publication 2007 Authors Chaillet, A, Chitour, Y, Lor, A, Sigalotti, M Keywords Robotics Abstract 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. In particular, when $\alpha(t)$ becomes zero the system dynamics switches to an uncontrollable system. In this paper, we address the following question: is it possible to find a linear time-invariant state-feedback, only depending on $(A,B)$ and the parameters of the persistent excitation, which globally asymptotically stabilizes the system? We give a positive answer to this question for two cases: when $A$ is neutrally stable and when the system is the double integrator.

#### Towards uniform linear time-invariant stabilization of systems with persistency of excitation

 Title Towards uniform linear time-invariant stabilization of systems with persistency of excitation Publication Type Miscellaneous Year of Publication 2007 Authors Chaillet, A, Chitour, Y, Lor, A, Sigalotti, M Keywords Robotics Abstract Consider the controlled system $dx/dt = Ax + \alpha(t)Bu$ where the pair $(A,B)$ is stabilizableand $\alpha(t)$ takes values in $[0,1]$ and is persistently exciting. In particular, when $\alpha(t)$ becomes zero the system dynamics switches to an uncontrollable system. In this paper, we address the following question: is it possible to find a linear time-invariant state-feedback, only depending on $(A,B)$ and the parameters of the persistent excitation, which globally exponentially stabilizes the system? We give a positive answer to this question for two cases: when $A$ is neutrally stable and when the system is the double integrator.

#### Sensor Deployment for Network-like Environments

 Title Sensor Deployment for Network-like Environments Publication Type Miscellaneous Year of Publication 2010 Authors Greco, L, Gaeta, M, Piccoli, B Keywords Robotics Notes Full version

#### Optimal synthesis for nonholonomic vehicles with constrained side sensors

 Title Optimal synthesis for nonholonomic vehicles with constrained side sensors Publication Type Miscellaneous Year of Publication 2011 Authors Salaris, P, Pallottino, L, Bicchi, A Keywords Embedded Control, Robotics Notes Technical Report

#### Variable Structure Control for Singularly Perturbed System: Stability Issues

 Title Variable Structure Control for Singularly Perturbed System: Stability Issues Publication Type Miscellaneous Year of Publication 2002 Authors Innocenti, M, Greco, L Keywords Robotics

#### Necessary and Sufficient Conditions for Asymptotic Stability of Second Order LTI Switching Systems

 Title Necessary and Sufficient Conditions for Asymptotic Stability of Second Order LTI Switching Systems Publication Type Miscellaneous Year of Publication 2003 Authors Greco, L, Tocchini, F, Innocenti, M Keywords Robotics

#### Adaptive nonlinear control of dynamic mobile robots with parameters uncertainty

 Title Adaptive nonlinear control of dynamic mobile robots with parameters uncertainty Publication Type Miscellaneous Year of Publication 2005 Authors Bicchi, A, Caiti, A, Fontanelli, D, Greco, L, Viviani, R Keywords Embedded Control, Robotics Abstract Research of a modular stabilizing control law for uncertain, nonholonomic mobile systems with actuators limitation has been investigated. Modular design allows the definition of a stabilizing control law for the kinematic model. The presence of uncertainties in the actuators parameters or in the vehicle dynamics has been treated both adding suitable components to the Lyapunov function and using parameters adaptation laws (e.g. adaptive control and backstepping techniques). Simulations are reported for the set point stabilization of a unicycle like vehicle showing the feasibility of the proposed approach. Torque limitations for a unicycle like vehicle has been investigated using backstepping techniques for the vehicle tracking problem. Simulations are reported.

#### Any Time Control

 Title Any Time Control Publication Type Miscellaneous Year of Publication 2006 Authors Fontanelli, D, Greco, L Keywords Embedded Control, Robotics Abstract It is widely accepted in the control community that the Computer Controlled Systems (briefly, CCSs), have a lot of advantages based primarily on the high reconfigurability of the controller platform and the ability of making complex yet fast decisions. Such positive features make the CCS a useful platform for multitasking control, i.e. using only one single-processor platform to control several plants. Within this framework, the computer has to share its computational time to solve several critical tasks, each one with its priority. Taking into account schedulability and real time operating systems problems, it is just a step forward to realize that tasks with low priority could be interrupted any time, with unpredictable distributions, and it is just a logical intuition that not all the tasks can be at the highest priority. From a control point of view, each control task should compute a control input to the controlled system to prevent instability or to ensure the performances. This field seems to be at the border between the control community and the computer science community and it has not been widely investigated. Some work has been presented introducing more general scheduling models and methods for control systems, where control design methodology takes the availability of computing resources into account and allows the trade–offs between control performance and computer resources utilization, and also introducing the idea of any time CCS without solutions. In literature, the Control Server is introduced, allowing the separation between scheduling and control design by treating the controllers as scalable real–time components. Jitter and latency is included in the model and cannot be taken over. Furthermore, the interrupt time, the I/O operations and the overrun handling are not taken into account, simply imposing only soft real time control tasks. Useful tools for the analysis of real time control performance are the Jitterbug and the True Time that analyze the control performance once the control tasks are implemented as soft real time tasks.