The paper provides the first controllability and observability analysis for structured state-space models, enabling LMI-based controller synthesis via contraction theory and a separation principle for observers and state feedback.
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A multi-dynamics model integrates electrical, winch, and continuum behaviors in tendon-driven robots to detect contacts and estimate object sizes from motor signals alone.
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Controller Design for Structured State-space Models via Contraction Theory
The paper provides the first controllability and observability analysis for structured state-space models, enabling LMI-based controller synthesis via contraction theory and a separation principle for observers and state feedback.
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A Unified Multi-Dynamics Framework for Perception-Oriented Modeling in Tendon-Driven Continuum Robots
A multi-dynamics model integrates electrical, winch, and continuum behaviors in tendon-driven robots to detect contacts and estimate object sizes from motor signals alone.