Luis Felipe da Cruz Figueredo

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— Despite the solid contribution of recent techniques for the analysis of networked controls systems (NCSs), the use of dynamic controllers has received little attention in the literature. Adapting these methods to consider dynamic controllers in the feedback loop is seldom trivial, however, neglecting this class of controllers restricts the universe of(More)
— This paper addresses the H∞ robust control problem for robot manipulators using unit dual quaternion representation , which allows an utter description of the end-effector transformation without decoupling rotational and translational dynamics. We propose three different H∞ control criteria that ensure asymptotic convergence, whereas reducing the(More)
In this paper, we address the rigid body pose stabilization problem using dual quaternion formalism. We propose a hybrid control strategy to design a switching control law with hysteresis in such a way that the global asymptotic stability of the closed-loop system is guaranteed and such that the controller is robust against arbitrary small perturbations on(More)