Stability-Guaranteed Variable Impedance Control of Robots Based on Approximate Dynamic Inversion

Variable impedance control has been considered as one of the most important compliant control approaches for its abilities in improving compliance, safety, and efficiency in robot-environment interaction. However, existing variable impedance controllers have deficits in stability guarantee. This art...

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Veröffentlicht in:	IEEE transactions on systems, man, and cybernetics. Systems man, and cybernetics. Systems, 2021-07, Vol.51 (7), p.4193-4200
Hauptverfasser:	Sun, Tairen, Peng, Liang, Cheng, Long, Hou, Zeng-Guang, Pan, Yongping
Format:	Artikel
Sprache:	eng
Schlagworte:	Approximate dynamic inversion (ADI) Control stability Control theory Controllers Convergence Dynamic inversion Dynamic stability Dynamics Force Impedance impedance control Robot control Robots Stability analysis trajectory tracking variable impedance
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