Donato Borrelli

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This paper describes a discrete-time “high-level” controller, called a “supervisor,” capable of switching into feedback with a discretetime single-input/single-outpu (SISO) system, a sequence of linear twodegrees-of-freedom (2-DOF) set-point controllers. Each controller is selected among a family of candidates so as to cause the output of the system to(More)
Before integration aboard European Space Agency BepiColombo mission to Mercury, the visible and near infrared hyperspectral imager underwent an intensive calibration campaign. We report in Paper I about the radiometric and linearity responses of the instrument including the optical setups used to perform them. Paper II [F. Altieri et al., Rev. Sci. Instrum.(More)
The Visible and near Infrared Hyperspectral Imager (VIHI) is the VIS-IR spectrometer with imaging capabilities aboard the ESA BepiColombo mission to Mercury. In this second paper, we report the instrument spectral characterization derived by the calibration campaign carried out before spacecraft integration. Complementary measurements concerning radiometric(More)
A switching controller for a class of robotic manipulators with grasping capabilities is presented. The aim is to control the motion of the grasped object along a desired trajectory while complying with contact force constraints. The algorithm successfully performs its control task by switching between several controllers induced by different operating(More)
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