Adaptive Stiffness and Damping Impedance Control for Environmental Interactive Systems With Unknown Uncertainty and Disturbance
This paper presents an impedance controller with adaptive stiffness and damping terms for environmental interactive system with unknown modeling error and external disturbance. The objective is to compensate the uncertainty and disturbance and form a desired close-loop impedance architecture. A dist...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2019-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/8913538/ |