Adaptive impedance control for unknown time-varying environment position and stiffness

This study is concerned with a new adaptive impedance control strategy to compensate for unknown time-varying environment stiffness and position. The uncertainties are expressed by Function Approximation Technique (FAT), which allows the update laws to be derived easily using Lyapunov stability the...

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Main Authors:	Zainul Azlan , Norsinnira, Yamaura, Hiroshi
Format:	Article
Language:	English
Published:	World Academy of Science, Engineering and Technology 2013
Subjects:	TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://irep.iium.edu.my/47712/ http://irep.iium.edu.my/47712/ http://irep.iium.edu.my/47712/1/adative_impedance_control_1.pdf

id	iium-47712
recordtype	eprints
spelling	iium-477122016-07-15T03:06:45Z http://irep.iium.edu.my/47712/ Adaptive impedance control for unknown time-varying environment position and stiffness Zainul Azlan , Norsinnira Yamaura, Hiroshi TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering This study is concerned with a new adaptive impedance control strategy to compensate for unknown time-varying environment stiffness and position. The uncertainties are expressed by Function Approximation Technique (FAT), which allows the update laws to be derived easily using Lyapunov stability theory. Computer simulation results are presented to validate the effectiveness of the proposed strategy. World Academy of Science, Engineering and Technology 2013 Article PeerReviewed application/pdf en http://irep.iium.edu.my/47712/1/adative_impedance_control_1.pdf Zainul Azlan , Norsinnira and Yamaura, Hiroshi (2013) Adaptive impedance control for unknown time-varying environment position and stiffness. International Journal of Mechanical, Aerospace, Industrial, Mechatronic and Manufacturing Engineering, 7 (2). pp. 283-289. ISSN 2010-376X E-ISSN 2010-3778 http://waset.org/publications/535/adaptive-impedance-control-for-unknown-time-varying-environment-position-and-stiffness
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering Zainul Azlan , Norsinnira Yamaura, Hiroshi Adaptive impedance control for unknown time-varying environment position and stiffness
description	This study is concerned with a new adaptive impedance control strategy to compensate for unknown time-varying environment stiffness and position. The uncertainties are expressed by Function Approximation Technique (FAT), which allows the update laws to be derived easily using Lyapunov stability theory. Computer simulation results are presented to validate the effectiveness of the proposed strategy.
format	Article
author	Zainul Azlan , Norsinnira Yamaura, Hiroshi
author_facet	Zainul Azlan , Norsinnira Yamaura, Hiroshi
author_sort	Zainul Azlan , Norsinnira
title	Adaptive impedance control for unknown time-varying environment position and stiffness
title_short	Adaptive impedance control for unknown time-varying environment position and stiffness
title_full	Adaptive impedance control for unknown time-varying environment position and stiffness
title_fullStr	Adaptive impedance control for unknown time-varying environment position and stiffness
title_full_unstemmed	Adaptive impedance control for unknown time-varying environment position and stiffness
title_sort	adaptive impedance control for unknown time-varying environment position and stiffness
publisher	World Academy of Science, Engineering and Technology
publishDate	2013
url	http://irep.iium.edu.my/47712/ http://irep.iium.edu.my/47712/ http://irep.iium.edu.my/47712/1/adative_impedance_control_1.pdf
first_indexed	2023-09-18T21:07:51Z
last_indexed	2023-09-18T21:07:51Z
_version_	1777411053946142720

Adaptive impedance control for unknown time-varying environment position and stiffness

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