48 citations · 95 across the 5 of their papers we have counts for
5 papers
A Robust Unscented Transformation for Uncertain Moments
Hugo T. M. Kussaba, João Y. Ishihara, Leonardo R. A. X. Menezes
This paper proposes a robust version of the unscented transform (UT) for one-dimensional random variables. It is assumed that the moments are not exactly known, but are known to li…
Robust H-infinity kinematic control of manipulator robots using dual quaternion algebra
Luis Felipe Cruz Figueredo, Bruno Vilhena Adorno, João Yoshiyuki Ishihara
This paper proposes a robust dual-quaternion based H-infinity task-space kinematic controller for robot manipulators. To address the manipulator liability to modeling errors, uncer…
Unscented Kalman Filters for Riemannian State-Space Systems
Henrique M. T. Menegaz, João Y. Ishihara, Hugo T. M. Kussaba
Unscented Kalman Filters (UKFs) have become popular in the research community. Most UKFs work only with Euclidean systems, but in many scenarios it is advantageous to consider syst…
Existence of Continuous or Constant Finsler's Variables for Parameter-Dependent Systems
João Y. Ishihara, Hugo T. M. Kussaba, Renato A. Borges
Finsler's lemma is a classic mathematical result with applications in control and optimization. When the lemma is applied to parameter-dependent LMIs, as such those that arise from…
Hybrid Kinematic Control for Rigid Body Pose Stabilization using Dual Quaternions
Hugo T. M. Kussaba, Luis F. C. Figueredo, João Y. Ishihara +1
In this paper, we address the rigid body pose stabilization problem using dual quaternion formalism. We propose a hybrid control strategy to design a switching control law with hys…