Optimal Energy Tank Initialization for Minimum Sensitivity to Model Uncertainties
Andrea Pupa,Paolo Robuffo Giordano,Cristian Secchi,Andrea Pupa,Paolo Robuffo Giordano,Cristian Secchi
Energy tanks have gained popularity inside the robotics and control communities over the last years, since they represent a formidable tool to enforce passivity (and, thus, input/output stability) of a controlled robot, possibly interacting with uncertain environments. One weak point of passification strategies based on energy tanks concerns, however, their initialization. Indeed, a too large init...
