Robustness analysis of a practical impedance control system

Jia Sheng Hu, Mi Ching Tsai

研究成果: Conference article同行評審

3 引文 斯高帕斯(Scopus)

摘要

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.

原文English
頁(從 - 到)719-724
頁數6
期刊IFAC Proceedings Volumes (IFAC-PapersOnline)
37
發行號11
DOIs
出版狀態Published - 2004
事件10th IFAC/IFORS/IMACS/IFIP Symposium on Large Scale Systems: Theory and Applications, LSS 2004 - Osaka, Japan
持續時間: 2004 七月 262004 七月 28

All Science Journal Classification (ASJC) codes

  • 控制與系統工程

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