SOURCE-LINKED INTELLIGENCE
Robust Semi-passive Velocity Field Control with Boundedness Guarantees for Safe Interaction between Mechanical Systems and Physical Environment
Controllers that guarantee energetic passivity with respect to the pair of external force and velocity realize safe interaction between the mechanical system and its physical environment. However, solely adhering to energetic passivity constraints may impose fundamental limitations on control performance and, in some cases, prevent the successful execution of controlled tasks. In addition, external disturbances from the physical environment can drive the system energy level and states beyond operational regions, thereby undermining task performance and safety. In this paper, we study a robust
Read original source ↗ Open in workspace
- recordType
- paper
- region
- Global
Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-08-31T03:16:14.000Z
First collected: 2026-09-21T07:22:03.933Z. This is not the publication date.