Robustness analysis of a practical impedance control system

Jia Sheng Hu, Mi Ching Tsai

Research output: Contribution to journalConference articlepeer-review

3 Citations (Scopus)

Abstract

This paper investigates a practical impedance control system design that utilizes a DC servomotor actuator and a shaft encoder feedback sensor. Based on a state filter for velocity and acceleration information and the dominate-pole principle, a partial model-matching design, based on the direct torque control scheme is proposed for ease of impedance control. An analysis of stability robustness is given due to the plant's parametric perturbations and controller parameters variations, and a stability bound is also derived to characterize possible perturbations.

Original languageEnglish
Pages (from-to)719-724
Number of pages6
JournalIFAC Proceedings Volumes (IFAC-PapersOnline)
Volume37
Issue number11
DOIs
Publication statusPublished - 2004
Event10th IFAC/IFORS/IMACS/IFIP Symposium on Large Scale Systems: Theory and Applications, LSS 2004 - Osaka, Japan
Duration: 2004 Jul 262004 Jul 28

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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