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Robust Admittance Control With Complementary Passivity

Published:2023 Issue: Volume:7 Page:2239-2244
ISSN:2475-1456
Container-title:IEEE Control Systems Letters
language:
Short-container-title:IEEE Control Syst. Lett.

Author:

Xu Jiapeng¹^ORCID,Chen Xiang¹^ORCID,Tan Ying²^ORCID,Zou Wulin³^ORCID

Affiliation:

1. Department of Electrical and Computer Engineering, University of Windsor, Windsor, Canada

2. Department of Mechanical Engineering, The University of Melbourne, Melbourne, VIC, Australia

3. Department of Research and Development, Xeno Dynamics Company Ltd., Shenzhen, China

Funder

Natural Sciences and Engineering Research Council of Canada under Discovery

Australian Research Council under Discovery

Publisher

Institute of Electrical and Electronics Engineers (IEEE)

Subject

Control and Optimization,Control and Systems Engineering

Link

http://xplorestaging.ieee.org/ielx7/7782633/9828546/10153789.pdf?arnumber=10153789

Reference25 articles.

1. Passivity-Based Motion and Force Tracking Control for Constrained Elastic Joint Robots

2. A Passivity-Based Approach for Stable Patient–Robot Interaction in Haptics-Enabled Rehabilitation Systems: Modulated Time-Domain Passivity Control

3. Circumventing Conceptual Flaws in Classical Interaction Control Strategies

4. Safety-Aware Hierarchical Passivity-Based Variable Compliance Control for Redundant Manipulators

5. Robust control of dynamically interacting systems

Cited by 2 articles. 订阅此论文施引文献订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献

1. Event-triggered adaptive neural prescribed performance admittance control for constrained robotic systems without velocity measurements;ISA Transactions;2024-08

2. Admittance swarm-based adaptive controller for lower limb exoskeleton with gait trajectory shaping;Journal of King Saud University - Computer and Information Sciences;2024-01

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