Publication Detail

A robust design method for impedance control of constrained dynamic systems

H. Kazerooni

A method is developed to design controllers of constrained dynamic systems (such as manipulator arms and ROVs) in the presence of model uncertainties. Stability of the system and environment as a whole and the preservation of stability in the face of changes have been considered in the design method. Theoretical results and methodology are illustrated with applications.

type: Full theses / dissertations

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