Abstract: In this work, an errorintegraldriven sliding mode controller (EIDSMC) is discussed for multiinput multioutput (MIMO) linear timeinvariant (LTI) systems. The boundary layer approach is utilized in order to eliminate the ...

Abstract: A hybrid Lyapunov based controller for dynamic catch, grasp, and carry tasks of grippers is developed. The Lyapunov controller unifies the trajectory planning and tracking tasks in one, and neither a separate trajectory ...

Abstract: The classification of constraints in mechanics and the various mechanical principles that apply to different types of constraints constitute a major area of research in the field of theoretical and applied mechanics. The ...

Abstract: A dissipation based definition of the principle of Jourdain is presented for rheonomic (explicitly time dependent) mechanical systems, which evolve under the influence of convex dissipation potentials. It is shown, that ...