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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Proceedings ArticleDOI
Novel, compliant, synergistic interactions of multiple contacts for grasping
TL;DR: In this paper, the stiffness matrix for each contact in a multi-contact grasp was determined by solving an optimization problem, and a material was designed to behave accordingly given the desired stiffness matrix.
Posted Content
Beyond Robustness: A Taxonomy of Approaches towards Resilient Multi-Robot Systems.
TL;DR: In this paper, the authors analyze how resilience is achieved in networks of agents and multi-robot systems that are able to overcome adversity by leveraging system-wide complementarity, diversity and redundancy, often involving a reconfiguration of robotic capabilities to provide some key ability that was not present in the system a priori.
Proceedings ArticleDOI
Disturbance Observer Based Contact Detection for Motorized Hydraulic Actuators
Chun-Ping Wang,John P. Whitney +1 more
TL;DR: In this article , the authors explore fluidic transmissions as series-elastic actuators, coupled to remotely-located direct-drive brushless motors, in a bid to maximize low-impedance sensitivity to contact while maintaining high bandwidth.
Journal ArticleDOI
Integrated Disturbance Observer-Based Robust Force Control
TL;DR: In this paper , a novel integrated disturbance observer (DOB) is proposed to suppress the effects of force disturbances within the plant without compromising the contact stability, which is applied to a force control system to demonstrate enhanced force control performance in free space and in contact.
Compositional Stability, Performance, and Safety Certification of Interconnected Systems
TL;DR: A passivity-based formation control strategy for multiple unmanned aerial vehicles (UAVs) cooperatively carrying a suspended load is presented, designed such that the input-output properties of the individual UAVs and the interconnection structure guarantee stability of the system under appropriate conditions.
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.