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:
Online Access:http://irep.iium.edu.my/47712/1/adative_impedance_control_1.pdf
http://irep.iium.edu.my/47712/
http://waset.org/publications/535/adaptive-impedance-control-for-unknown-time-varying-environment-position-and-stiffness
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Institution: Universiti Islam Antarabangsa Malaysia
Language: English
id my.iium.irep.47712
record_format dspace
spelling my.iium.irep.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 REM 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 http://waset.org/publications/535/adaptive-impedance-control-for-unknown-time-varying-environment-position-and-stiffness
institution Universiti Islam Antarabangsa Malaysia
building IIUM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider International Islamic University Malaysia
content_source IIUM Repository (IREP)
url_provider http://irep.iium.edu.my/
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/47712/1/adative_impedance_control_1.pdf
http://irep.iium.edu.my/47712/
http://waset.org/publications/535/adaptive-impedance-control-for-unknown-time-varying-environment-position-and-stiffness
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