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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Delayed bilateral teleoperation : a direct force-reflecting control approach
TL;DR: In this paper, the authors focus on the design of control architectures for bilateral teleoperators interacting with a stiff environment, while the communication suffers from delays, and identify the controller structure to achieve high-performance delayed bilateral teleoperation.
Journal ArticleDOI
The effect of time delay and discrete control on the contact stability of simple position controllers
John C. Fiala,Ronald Lumia +1 more
TL;DR: By analysis of the driving-point admittance, it is shown how time delays and discrete control can create instabilities for a simple manipulator position controller in contact with the environment.
Journal ArticleDOI
The Role of Environment Dynamics in Contact Force Control of Manipulation Robots
TL;DR: In this paper, the role of the environment dynamics in force control of robots interacting with dynamic environment is emphasized and a contribution to understanding the mechanism of elasto-dynamic interaction is given.
Posted Content
Converse Theorems for Integral Quadratic Constraints
Sei Zhen Khong,Chung-Yao Kao +1 more
TL;DR: A collection of converse theorems for integral quadratic constraints (IQCs) is established for linear time-invariant systems and it is demonstrated that when a system interconnected in feedback with an arbitrary system satisfying an IQC is stable, then the given system must necessarily satisfy the complementary IQC.
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.