Control of interconnected mechanical systems

Asif Sabanovic, Nadira Sabanovic, Kouhei Ohnishi

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
1 PART 1
DOI
出版ステータスPublished - 2008 12 1
イベント17th World Congress, International Federation of Automatic Control, IFAC - Seoul, Korea, Republic of
継続期間: 2008 7 62008 7 11

出版物シリーズ

名前IFAC Proceedings Volumes (IFAC-PapersOnline)
番号1 PART 1
17
ISSN(印刷版)1474-6670

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学

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