Control of interconnected mechanical systems

Asif Sabanovic, Nadira Sabanovic, Kouhei Ohnishi

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

2 Citations (Scopus)


In this paper control systems design approach, based on siding mode methods, that allows maintain some functional relation - like bilateral or multilateral systems, establishment of virtual relation among mobile robots or control of haptic systems - is presented. It is shown that all basic motion control problems - trajectory tracking, force control, hybrid position/force control scheme and the impedance control for the interacting systems- can be treated in the same way while avoiding the structural change of the controller and guarantying stable behavior of the system In order to show applicability of the proposed techniques simulation and experimental results for high precision systems in microsystems assembly tasks are presented.

Original languageEnglish
Title of host publicationProceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
Edition1 PART 1
Publication statusPublished - 2008 Dec 1
Event17th World Congress, International Federation of Automatic Control, IFAC - Seoul, Korea, Republic of
Duration: 2008 Jul 62008 Jul 11

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Number1 PART 1
ISSN (Print)1474-6670


Other17th World Congress, International Federation of Automatic Control, IFAC
Country/TerritoryKorea, Republic of


  • Design methodologies
  • Identification and control methods
  • Mechatronic systems

ASJC Scopus subject areas

  • Control and Systems Engineering


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