QFT-based design of force and contact transition controllers for a flexible link manipulator

Control Engineering Practice

Volumn 17, Issue 3, 2009, Pages 329-344

  Ziaei, Kamyar ^a   Ni, Liya ^b   Wang, David W L ^c  

^a MAKO Surgical Corp   (United States)

^b UNIVERSITY OF WISCONSIN PLATTEVILLE   (United States)

^c UNIVERSITY OF WATERLOO   (Canada)

Author keywords

Flexible link manipulator; Generalized orthonormal basis; Quantitative feedback theory; Robust control; System identification

Indexed keywords

CONTROL SYSTEMS; CONTROL THEORY; FEEDBACK; FLEXIBLE MANIPULATORS; FLEXIBLE STRUCTURES; MANIPULATORS; ROBUST CONTROL; SENSORS; SIGNAL FILTERING AND PREDICTION; UNCERTAINTY ANALYSIS;

CONTACT TASKS; CONTACT TRANSITIONS; FLEXIBLE LINK MANIPULATOR; FLEXIBLE LINKS; FORCE CONTROLLERS; FORCE SENSING DEVICES; GENERALIZED ORTHONORMAL BASIS; GENERALIZED ORTHONORMAL BASIS FUNCTIONS; INFINITE DIMENSIONAL; LYAPUNOV APPROACHES; MODEL UNCERTAINTIES; NEW ALGORITHMS; PIECE WISES; QUANTITATIVE FEEDBACK THEORY; RESONANT SYSTEMS; ROBUST CONTROLLERS; SWITCHING CONDITIONS; SWITCHING CONTROLLERS; SYSTEM IDENTIFICATION;

IDENTIFICATION (CONTROL SYSTEMS);

EID: 58149510097     PISSN: 09670661     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.conengprac.2008.06.004     Document Type: Article

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