Robust sliding mode impedance control of manipulators for complex force-controlled operations
Bo Zhou, Fuyang Song, Yirong Liu, Fang Fang, Yahui Gan
Topics & Concepts
Control theory (sociology)Impedance controlElectrical impedanceObserver (physics)Lyapunov stabilityParametric statisticsSliding mode controlRobust controlStability (learning theory)Mechanical impedanceStiffnessVariable structure controlPosition (finance)Output impedanceState observerContact forceEngineeringControl engineeringComputer scienceControl systemMathematicsControl (management)Nonlinear systemStructural engineeringPhysicsElectrical engineeringQuantum mechanicsMachine learningStatisticsArtificial intelligenceFinanceEconomicsRobot Manipulation and LearningTeleoperation and Haptic SystemsSoft Robotics and Applications