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Left invertibility of discrete-time output-quantized systems: the linear case with finite inputs

TitleLeft invertibility of discrete-time output-quantized systems: the linear case with finite inputs
Publication TypeJournal Article
Year of Publication2011
AuthorsDubbini, N, Piccoli, B, Bicchi, A
JournalMathematics of Control, Signals, and Systems
Volume23
Pagination117 - 139
Date PublishedNovember, 16
KeywordsRobotics
Abstract

This paper studies left invertibility of discrete-time linear outputquantized systems. Quantized outputs are generated according to a given partition of the state-space, while inputs are sequences on a nite alphabet. Left invertibility, i.e. injectivity of I/O map, is reduced to left D-invertibility, under suitable conditions. While left invertibility takes into account membership to sets of a given partition, left D-invertibility considers only membership to a single set, and is much easier to detect. The condition under which left invertibility and left D-invertibility are equivalent is that the elements of the dynamic matrix of the system form an algebraically independent set. Our main result is a method to compute left D-invertibility (so also left invertibility for a full measure matrix set) for all linear systems with no eigenvalue of modulus one. Therefore we are able to check left invertibility of output-quantized linear systems for a full measure matrices set. Some examples are presented to show the application of the proposed method.

Notes

published online 8 Sept. 2011

DOI10.1007/s00498-011-0063-x

On the Manipulability Ellipsoids of Underactuated Robotic Hands with Compliance Robotics and Autonomous Systems

TitleOn the Manipulability Ellipsoids of Underactuated Robotic Hands with Compliance Robotics and Autonomous Systems
Publication TypeJournal Article
Year of Publication2012
AuthorsPrattichizzo, D, Malvezzi, M, Gabiccini, M, Bicchi, A
JournalRobotics and Autonomous Systems, special issue on Autonomous Grasping
Volume60
Issue3
Pagination337 - 346
Other NumbersAvailable online 17 August 2011
KeywordsHaptics, Robotics
Notes

in press, Available online 17 August 2011

DOI10.1016/j.robot.2011.07.014

Pages