Luis Felipe da Cruz Figueredo

Learn More
This paper addresses the H<sub>&#x221E;</sub> 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<sub>&#x221E;</sub> control criteria that ensure asymptotic(More)
— Network-induced delays and packet dropouts are relevant issues that can degrade networked control systems' performance and may even lead to instability. This paper concerns the establishment of a stability criterion for networked control systems (NCSs) consisting of an LTI process and a dynamic feedback controller. Conditions for stability are provided in(More)
— 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 presents a new strategy for task space control in the cooperative manipulation framework. We extend the cooperative dual task-space (CDTS) - which uses dual quaternions to represent the bimanual manipulation-to explicitly regard self-motion dynamics that arise from redundant kinematics. In this sense, we propose a flexible task execution(More)
This work addresses the task-space design problem of a linear-quadratic optimal tracking controller for robotic manipulators using the unit dual quaternion formalism. The efficiency, compactness, and lack of singularity of the representation render the unit dual quaternion a suitable framework for simultaneously describing the attitude and the position of(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 global at-tractivity of the stabilization pose does not(More)