A robust force control based on continuous switching of local control rules
- 4 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
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.Keywords
This publication has 3 references indexed in Scilit:
- A Fuzzy Controller Design Method For A Robot GripperPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- A Robust decentralized joint control based on interference estimationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Variable structure systems with sliding modesIEEE Transactions on Automatic Control, 1977