In this paper, we address the control problem of an uncertain robotic manipulator with input saturations, unknown input scalings and disturbances. For this purp
Impedance control is a well-established technique to control interaction forces in robotics. However, real implementations of impedance control with an inner lo
The OFEX (Optimal and Fully EXplicit) rate controller is able to provide not only the optimal bandwidth allocation but also the fully explicit congestion signal
This paper studies the system stability problems of a class of nonconvex differential inclusions. At first, a basic stability result is obtained by virtue of lo