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 publicationSignal Processing and System Control Factory Automation
PublisherPubl by IEEE
Pages285-289
Number of pages5
ISBN (Print)0879426004
Publication statusPublished - 1990 Dec 1
Event16th Annual Conference of IEEE Industrial Electronics Society - IECON'90 - Pacific Grove, CA, USA
Duration: 1990 Nov 271990 Nov 30

Publication series

NameIECON Proceedings (Industrial Electronics Conference)
Volume1

Other

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

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • 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 Signal Processing and System Control Factory Automation (pp. 285-289). (IECON Proceedings (Industrial Electronics Conference); Vol. 1). Publ by IEEE.