Title :
Virtual Power Limiter System which Guarantees Stability of Control Systems
Author :
Kanaoka, Katsuya ; Uemura, Mitsunori
Author_Institution :
Department of Robotics, Ritsumeikan University Shiga 525-8577, Japan Email: kanaoka@se.ritsumei.ac.jp
Abstract :
In this paper, a Virtual Power Limiter System is proposed. This requires no modeling and makes it possible to guarantee the stability of control systems which include unknown characteristics: flexibility in flexible manipulators, compressibility in pneumatic servo systems, human dynamics in man-machine systems, hardware nonlinearity in mechatronic systems, and so on. The details of the proposed virtual power limiter system and experimental verification with a man-machine system are presented.
Keywords :
Control system synthesis; Control systems; Humans; Man machine systems; Manipulator dynamics; Nonlinear control systems; Nonlinear dynamical systems; Power system modeling; Servomechanisms; Stability;
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
DOI :
10.1109/ROBOT.2005.1570308
