Journal ArticleDOI
Robust control of dynamically interacting systems
J.E. Colgate,Neville Hogan +1 more
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This paper describes an approach to the design of ‘interaction controllers’ and contrasts this with an Approach to the Design of Approaches toDynamic interaction with the environment is fundamental to the process of manipulation.Abstract:
Dynamic interaction with the environment is fundamental to the process of manipulation. This paper describes an approach to the design of ‘interaction controllers’ and contrasts this with an approa...read more
Citations
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Control System Design for Networked Telerobotic Systems
TL;DR: Thesis (Ph.D, Electrical & Computer Engineering) -- Queen's University, 2014-07-09 11-51:51.171
Posted Content
The converse of the passivity and small-gain theorems for input-output maps
TL;DR: The proof is based on the S-procedure lossless theorem and discusses the importance of this result for the control of systems interacting with an output strictly passive, but otherwise completely unknown, environment.
Dissertation
Control of humanoid robots to realize haptic tasks in collaboration with a human operator
TL;DR: The results show that the extended leader-follower model can be applied to realize collaborative tasks with a human operator while avoiding self-collision and how the weighting between both behaviors can be adjusted automatically on a robotic system, depending on various criteria such as constraints of the robot or knowledge from human-human haptic interaction.
Proceedings ArticleDOI
Passivity Analysis of Quadrotor Aircraft for Physical Interactions
TL;DR: In this paper, the passivity and coupled-stability of quad rotors using generic cascaded position-attitude (CPA) and PX4 flight controllers were investigated.
Dissertation
Implementation of a 2D master-slave system
TL;DR: The system is shown to sustain its stability despite the unreliability of the communication between the devices and low sample frequency, and the scattering formalism has been implemented to keep the haptic system stable despite variable communication delays and loss of data.
References
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Book
Linear Optimal Control Systems
Huibert Kwakernaak,Raphael Sivan +1 more
TL;DR: In this article, the authors provide an excellent introduction to feedback control system design, including a theoretical approach that captures the essential issues and can be applied to a wide range of practical problems.
Book
Introduction to physical system dynamics
R. Robert Rosenberg,Dean Karnopp +1 more
TL;DR: The SYSKIT is a linear system software toolkit that contains a highly integrated set of programs with applications to system dynamics, controls and vibrations.
Dissertation
Practical robustness measures in multivariable control system analysis
TL;DR: A very general robustness theorem is presented from which all of the robustness tests dealing with specific model errors may be derived and are able to guarantee feedback system stability in the face of model errors of larger magnitude.
Dissertation
Stability robustness of impedance controlled manipulators coupled to passive environments
TL;DR: Thesis. as discussed by the authors, Mass. Institute of Technology, Dept. of Mechanical Engineering, Boston, Massachusetts, U.S.A. (M.S., 1987).
Practical robustness measures in multivariable control system analysis. Ph.D. Thesis
TL;DR: In this paper, the robustness of linear time invariant feedback control systems with respect to model uncertainty is considered using frequency domain criteria, and robustness tests are unified under a common framework based on the nature and structure of model errors.