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

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

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Abstract

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.

Item Type:	Article (Journal)
Additional Information:	4494/47712
Uncontrolled Keywords:	Adaptive Impedance Control, Function Approximation Technique (FAT), unknown time-varying environment position and stiffness
Subjects:	T Technology > TJ Mechanical engineering and machinery T Technology > TK Electrical engineering. Electronics Nuclear engineering
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User:	Norsinnira Zainul Azlan
Date Deposited:	16 Mar 2016 14:56
Last Modified:	15 Jul 2016 11:06
URI:	http://irep.iium.edu.my/id/eprint/47712

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