DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, Min Jun | ko |
dc.contributor.author | Chung, Wan Kyun | ko |
dc.date.accessioned | 2020-11-30T13:10:25Z | - |
dc.date.available | 2020-11-30T13:10:25Z | - |
dc.date.created | 2020-11-24 | - |
dc.date.issued | 2013-11-05 | - |
dc.identifier.citation | IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2013, pp.1972 - 1978 | - |
dc.identifier.issn | 2153-0858 | - |
dc.identifier.uri | http://hdl.handle.net/10203/277790 | - |
dc.description.abstract | In this paper, nonlinear H∞ optimal design of impedance controllers is proposed based on the nonlinear robust internal-loop compensator (NRIC) framework. Simply adding PD-type auxiliary input to the original control law, the robust performance and the robust stability are achieved. Nonlinear H∞ optimality is guaranteed by solving Hamilton-Jacobi-Isaacs (HJI) equation and the disturbance input-to-state stability (ISS) is guaranteed by finding ISS-Lyapunov function. Moreover, it is shown that the proposed method preserves the passivity of the impedance controllers. The proposed method can be applied to various types of impedance controllers in a unified way. Through simulations and experimental studies, the proposed method is verified. | - |
dc.language | English | - |
dc.publisher | IEEE Robotics and Automation Society (RAS) | - |
dc.title | Design of nonlinear H∞ optimal impedance controllers | - |
dc.type | Conference | - |
dc.identifier.wosid | 000331367402009 | - |
dc.identifier.scopusid | 2-s2.0-84893772937 | - |
dc.type.rims | CONF | - |
dc.citation.beginningpage | 1972 | - |
dc.citation.endingpage | 1978 | - |
dc.citation.publicationname | IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2013 | - |
dc.identifier.conferencecountry | JA | - |
dc.identifier.conferencelocation | Tokyo | - |
dc.identifier.doi | 10.1109/IROS.2013.6696618 | - |
dc.contributor.localauthor | Kim, Min Jun | - |
dc.contributor.nonIdAuthor | Chung, Wan Kyun | - |
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.