TY - GEN
T1 - A robust force control based on continuous switching of local control rules
AU - Uchimura, Yutaka
AU - Umahashi, Yoshimitsu
AU - Ohnishi, Kohei
PY - 1990/12/1
Y1 - 1990/12/1
N2 - 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.
AB - 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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M3 - Conference contribution
AN - SCOPUS:0025577263
SN - 0879426004
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 285
EP - 289
BT - Signal Processing and System Control Factory Automation
PB - Publ by IEEE
T2 - 16th Annual Conference of IEEE Industrial Electronics Society - IECON'90
Y2 - 27 November 1990 through 30 November 1990
ER -