A robust force control based on continuous switching of local control rules

Yutaka Uchimura, Yoshimitsu Umahashi, Kohei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

A robust force controller based on dual-mode control by continuous switching is described. This controller is applied to an observer-based acceleration controller, which eliminates the disturbance imposed on a manipulator. The robustness of the controller against stiffness variation of objects is improved, and the asymptotic stability of the controller is proved using the Lyapunov function. Experimental results verify the validity of proposed method.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Place of PublicationLos Alamitos, CA, United States
PublisherPubl by IEEE
Pages285-289
Number of pages5
Volume1
ISBN (Print)0879426004
Publication statusPublished - 1990
Externally publishedYes
Event16th Annual Conference of IEEE Industrial Electronics Society - IECON'90 - Pacific Grove, CA, USA
Duration: 1990 Nov 271990 Nov 30

Other

Other16th Annual Conference of IEEE Industrial Electronics Society - IECON'90
CityPacific Grove, CA, USA
Period90/11/2790/11/30

Fingerprint

Force control
Robust control
Controllers
Lyapunov functions
Asymptotic stability
Robustness (control systems)
Manipulators
Stiffness

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Uchimura, Y., Umahashi, Y., & Ohnishi, K. (1990). A robust force control based on continuous switching of local control rules. In IECON Proceedings (Industrial Electronics Conference) (Vol. 1, pp. 285-289). Los Alamitos, CA, United States: Publ by IEEE.

A robust force control based on continuous switching of local control rules. / Uchimura, Yutaka; Umahashi, Yoshimitsu; Ohnishi, Kohei.

IECON Proceedings (Industrial Electronics Conference). Vol. 1 Los Alamitos, CA, United States : Publ by IEEE, 1990. p. 285-289.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Uchimura, Y, Umahashi, Y & Ohnishi, K 1990, A robust force control based on continuous switching of local control rules. in IECON Proceedings (Industrial Electronics Conference). vol. 1, Publ by IEEE, Los Alamitos, CA, United States, pp. 285-289, 16th Annual Conference of IEEE Industrial Electronics Society - IECON'90, Pacific Grove, CA, USA, 90/11/27.
Uchimura Y, Umahashi Y, Ohnishi K. A robust force control based on continuous switching of local control rules. In IECON Proceedings (Industrial Electronics Conference). Vol. 1. Los Alamitos, CA, United States: Publ by IEEE. 1990. p. 285-289
Uchimura, Yutaka ; Umahashi, Yoshimitsu ; Ohnishi, Kohei. / A robust force control based on continuous switching of local control rules. IECON Proceedings (Industrial Electronics Conference). Vol. 1 Los Alamitos, CA, United States : Publ by IEEE, 1990. pp. 285-289
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