基于局部控制规则连续切换的鲁棒力控制

[Proceedings] IECON '90: 16th Annual Conference of IEEE Industrial Electronics Society Pub Date : 1990-11-27 DOI:10.1109/IECON.1990.149152

Y. Uchimura, Y. Umahashi, K. Ohnishi

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引用次数: 4

摘要

介绍了一种基于连续切换双模控制的鲁棒力控制器。该控制器应用于基于观测器的加速度控制器，消除了对机械臂的干扰。提高了控制器对目标刚度变化的鲁棒性，并利用李雅普诺夫函数证明了控制器的渐近稳定性。实验结果验证了所提方法的有效性

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

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.<>

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来源期刊

[Proceedings] IECON '90: 16th Annual Conference of IEEE Industrial Electronics Society

CiteScore

1.40

自引率

0.00%

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