TY - GEN
T1 - Control of interconnected mechanical systems
AU - Sabanovic, Asif
AU - Sabanovic, Nadira
AU - Ohnishi, Kouhei
PY - 2008/12/1
Y1 - 2008/12/1
N2 - 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.
AB - 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.
KW - Design methodologies
KW - Identification and control methods
KW - Mechatronic systems
UR - http://www.scopus.com/inward/record.url?scp=79961019497&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=79961019497&partnerID=8YFLogxK
U2 - 10.3182/20080706-5-KR-1001.0877
DO - 10.3182/20080706-5-KR-1001.0877
M3 - Conference contribution
AN - SCOPUS:79961019497
SN - 9783902661005
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
BT - Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
T2 - 17th World Congress, International Federation of Automatic Control, IFAC
Y2 - 6 July 2008 through 11 July 2008
ER -