Title :
A robust force control based on continuous switching of local control rules
Author :
Uchimura, Yutaka ; Umahashi, Yoshimitsu ; Ohnishi, Kohei
Author_Institution :
Dept. of Electr. Eng., Keio Univ., Yokohama, Japan
Abstract :
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
Keywords :
Lyapunov methods; force control; robots; stability; state estimation; Lyapunov function; asymptotic stability; continuous switching; disturbance; dual-mode control; local control rules; manipulator; observer-based acceleration controller; robust force control; stiffness variation; Acceleration; Actuators; Control systems; Force control; Lyapunov method; Manipulators; Robots; Robust control; Robust stability; Switches;
Conference_Titel :
Industrial Electronics Society, 1990. IECON '90., 16th Annual Conference of IEEE
Conference_Location :
Pacific Grove, CA
Print_ISBN :
0-87942-600-4
DOI :
10.1109/IECON.1990.149152
