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Finite-time state-dependent Riccati equation regulation of anthropomorphic dual-arm space manipulator system in free-flying conditions
(Elsevier, 2024-03)
This paper introduces a novel approach for regulating the pose of a free-flying dual-arm anthropomorphic space manipulator system (SMS) using a finite-time state-dependent Riccati equation (SDRE) controller. The proposed ...
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Modelling and identification methods for simulation of cable-suspended dual-arm robotic systems
(Elsevier, 2024-05)
This paper proposes rigid-body modelling and identification procedures for long-reach dual-arm manipulators in a cable-suspended pendulum configuration. The proposed model relies on a virtually constrained open kinematic ...
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Tracking-Based Distributed Equilibrium Seeking for Aggregative Games
(IEEE, 2024-02)
We propose fully-distributed algorithms for Nash equilibrium seeking in aggregative games over networks. We first consider the case where local constraints are present and we design an algorithm combining, for each agent, ...