Power-Based Velocity-Domain Variable Structure Passivity Signature Control for Physical Human-(Tele)Robot Interaction.
Peter PaikSmrithi ThudiSeyed Farokh AtashzarPublished in: IEEE Trans. Robotics (2023)
Keyphrases
- sliding mode
- variable structure
- trajectory tracking
- robot manipulators
- human robot interaction
- human robot
- control theory
- adaptive control
- control strategy
- physical world
- human operators
- control law
- sliding mode control
- stability analysis
- force control
- control method
- control scheme
- humanoid robot
- impedance control
- physical constraints
- autonomous robots
- pid controller
- robotic systems
- fuzzy control
- fuzzy systems
- visual servoing
- end effector
- dynamic model
- control algorithm
- optimal control
- control system
- mobile robot
- vision system
- path planning
- artificial intelligence
- dynamical systems
- closed loop
- genetic algorithm
- feedback control
- differential equations
- nonlinear systems