TY - JOUR
T1 - Robustness analysis of a practical impedance control system
AU - Hu, Jia Sheng
AU - Tsai, Mi Ching
N1 - Publisher Copyright:
© 2004 IFAC.
PY - 2004
Y1 - 2004
N2 - 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.
AB - 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.
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U2 - 10.1016/S1474-6670(17)31695-6
DO - 10.1016/S1474-6670(17)31695-6
M3 - Conference article
AN - SCOPUS:85061931235
SN - 1474-6670
VL - 37
SP - 719
EP - 724
JO - IFAC Proceedings Volumes (IFAC-PapersOnline)
JF - IFAC Proceedings Volumes (IFAC-PapersOnline)
IS - 11
T2 - 10th IFAC/IFORS/IMACS/IFIP Symposium on Large Scale Systems: Theory and Applications, LSS 2004
Y2 - 26 July 2004 through 28 July 2004
ER -