Journal article
Robust Admittance Control With Complementary Passivity
J Xu, X Chen, Y Tan, W Zou
IEEE Control Systems Letters | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | Published : 2023
Abstract
This letter studies a robust admittance control problem with a passivity requirement for stable and unstable linear time-invariant systems, motivated by control issues originated from physical human-robot interaction. A complementary admittance control structure is proposed and analyzed, revealing that the nominal performance (admittance tracking and passivity) is decoupled from robustness. Simulations on the admittance control for human arm strength augmentation with a passivity requirement validate the proposed controller design.
Grants
Awarded by Natural Sciences and Engineering Research Council of Canada
Funding Acknowledgements
This work was supported in part by the Natural Sciences and Engineering Research Council of Canada under Discovery Grant RGPIN-2019-06368, and in part by the Australian Research Council under Discovery Project DP200102402.& nbsp;