Immersion and invariance control for an antagonistic joint with nonlinear mechanical stiffness.

Thomas Wimböck Christian Ott Gerd Hirzinger

Published in: CDC (2010)

Keyphrases

tracking control
virtual environment
feedback loop
nonlinear dynamics
highly nonlinear
control system
virtual reality
impedance control
adaptive neural
model predictive control
neural network
virtual world
control method
operating conditions
linear systems