Application of μ Theory in Compliant Force Control

The application of μ theory in compliant force control system is studied. A compliant force control strategy is developed based on the inner loop position control of 6-DOF parallel robot in order to simulate the push and pull process of forcible alignment in space docking. Considering uncertainties such as parameter perturbations, model perturbations and external disturbances, etc., a robust force controller is designed using μ synthesis theory. The robust stability and robust performance are compared by μ analysis between the designed robust force controller and the classical force controller. The experiment results of the designed robust force controller and the classical force controller are shown. The results indicate that the designed robust force controller is of efficiency and superiority.