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
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Proceedings ArticleDOI
Multi-Objective Admittance Control: An LMI-Based Method
TL;DR: In this paper , a complementary admittance control framework is proposed with decoupled design freedoms of admittance performance and robustness, and LMI-based optimization algorithms are developed to find the controller gains satisfying respective constraints.
Proceedings Article
The Role of Impedance Modulation and Redundancy Resolution in Human-Robot Interaction
TL;DR: It is shown that using redundancy to decouple the equivalent inertia at the end-effector enables a more flexible choice of the impedance parameters and improves the performance during manual guidance.
Proceedings ArticleDOI
RD500 manipulator force controller design: a multiobjective approach
J.-P. Folcher,C. Andriot +1 more
TL;DR: In this paper, a multi-objective robust controller synthesis approach for LTI systems subject to passive perturbation is proposed and numerical experiments demonstrate the effectiveness of the proposed multiobjective approach.
Posted Content
Learning Deep Energy Shaping Policies for Stability-Guaranteed Manipulation.
TL;DR: In this paper, an interpretable deep policy structure based on the energy shaping control of Lagrangian systems is proposed to guarantee control stability for DRL in a model-free framework with contact-rich manipulation tasks.
Posted Content
Learning Deep Neural Policies with Stability Guarantees
TL;DR: This work achieves unconditional stability in deep reinforcement learning by deriving an interpretable deep policy structure based on the energy shaping control of Lagrangian systems and establishing stability during physical interaction with an unknown environment based on passivity.
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.