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3D Wireframe Hourglass
Fixed-Time
Convergence

Unlike asymptotic or exponential stability, fixed-time stability ensures that tracking or estimation errors converge within a pre-specified, finite time — making it a stronger notion of stability. Our objective is to integrate this concept within the framework of adaptive control.

Wavy Circles
Model Predictive
Control

Our goal is to use MPC algorithms for safe human-robot interaction, particularly in impedance/admittance control.

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