The work provides passivity-preserving reformulations for variable impedance control and multi-controller arbitration in shared control, enabling unconstrained time-varying matrix gains while stabilizing the closed-loop system.
Impedance control on arbitrary surfaces for ultrasound scanning using discrete differential geometry,
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Passive Variable Impedance For Shared Control
The work provides passivity-preserving reformulations for variable impedance control and multi-controller arbitration in shared control, enabling unconstrained time-varying matrix gains while stabilizing the closed-loop system.