Control of interconnected mechanical systems

Asif Sabanovic, Nadira Sabanovic, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

In this paper control systems design approach, based on siding mode methods, that allows maintain some functional relation - like bilateral or multilateral systems, establishment of virtual relation among mobile robots or control of haptic systems - is presented. It is shown that all basic motion control problems - trajectory tracking, force control, hybrid position/force control scheme and the impedance control for the interacting systems- can be treated in the same way while avoiding the structural change of the controller and guarantying stable behavior of the system In order to show applicability of the proposed techniques simulation and experimental results for high precision systems in microsystems assembly tasks are presented.

Original languageEnglish
Title of host publicationIFAC Proceedings Volumes (IFAC-PapersOnline)
Volume17
Edition1 PART 1
DOIs
Publication statusPublished - 2008
Externally publishedYes
Event17th World Congress, International Federation of Automatic Control, IFAC - Seoul, Korea, Republic of
Duration: 2008 Jul 62008 Jul 11

Other

Other17th World Congress, International Federation of Automatic Control, IFAC
CountryKorea, Republic of
CitySeoul
Period08/7/608/7/11

Fingerprint

Force control
Microsystems
Position control
Motion control
Mobile robots
Systems analysis
Trajectories
Control systems
Controllers

Keywords

  • Design methodologies
  • Identification and control methods
  • Mechatronic systems

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Sabanovic, A., Sabanovic, N., & Ohnishi, K. (2008). Control of interconnected mechanical systems. In IFAC Proceedings Volumes (IFAC-PapersOnline) (1 PART 1 ed., Vol. 17) https://doi.org/10.3182/20080706-5-KR-1001.0877

Control of interconnected mechanical systems. / Sabanovic, Asif; Sabanovic, Nadira; Ohnishi, Kouhei.

IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 17 1 PART 1. ed. 2008.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Sabanovic, A, Sabanovic, N & Ohnishi, K 2008, Control of interconnected mechanical systems. in IFAC Proceedings Volumes (IFAC-PapersOnline). 1 PART 1 edn, vol. 17, 17th World Congress, International Federation of Automatic Control, IFAC, Seoul, Korea, Republic of, 08/7/6. https://doi.org/10.3182/20080706-5-KR-1001.0877
Sabanovic A, Sabanovic N, Ohnishi K. Control of interconnected mechanical systems. In IFAC Proceedings Volumes (IFAC-PapersOnline). 1 PART 1 ed. Vol. 17. 2008 https://doi.org/10.3182/20080706-5-KR-1001.0877
Sabanovic, Asif ; Sabanovic, Nadira ; Ohnishi, Kouhei. / Control of interconnected mechanical systems. IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 17 1 PART 1. ed. 2008.
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