LYAPUNOV-BASED CONTROL OF A ROBOT AND MASS-SPRING SYSTEM UNDERGOING AN IMPACT COLLISION

2009 International Journal of Robotics and Automation  
To my wife Yen-Chen and son Hsu-Chen who constantly filled me with love and joy. ACKNOWLEDGMENTS I would like to express my gratitude to my advisor, mentor, and friend, Dr. Warren E. Dixon for introducing me with the interesting field of Lyapunov-based control. As an advisor, he provided the necessary guidance and allowed me to try some stupid ideas during my research. As a mentor, he helped me understand the high pressure of working in a professional environment and was willing to give me time
more » ... ing to give me time to learn and adjust. I feel fortunate in getting the opportunity to work with him.
doi:10.2316/journal.206.2009.4.206-3166 fatcat:mh53rlrljbfstezvvec4hkdpku