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

Yutaka Uchimura, Yoshimitsu Umahashi, Kohei Ohnishi

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルSignal Processing and System Control Factory Automation
出版社Publ by IEEE
ページ285-289
ページ数5
ISBN(印刷版)0879426004
出版ステータスPublished - 1990 12 1
外部発表はい
イベント16th Annual Conference of IEEE Industrial Electronics Society - IECON'90 - Pacific Grove, CA, USA
継続期間: 1990 11 271990 11 30

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)
1

Other

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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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