Discrete Windowed-Energy Variable Structure Passivity Signature Control for Physical Human-(Tele)Robot Interaction.
Smrithi ThudiSeyed Farokh AtashzarPublished in: IEEE Robotics Autom. Lett. (2021)
Keyphrases
- sliding mode
- variable structure
- trajectory tracking
- robot manipulators
- human robot interaction
- human robot
- adaptive control
- control theory
- control strategy
- human operators
- physical world
- stability analysis
- control law
- sliding mode control
- robot behavior
- robotic systems
- humanoid robot
- fuzzy control
- visual servoing
- force control
- control method
- control system
- autonomous robots
- control scheme
- nonlinear systems
- pid controller
- end effector
- dynamic model
- real time
- mobile robot
- impedance control
- fuzzy systems
- optimal control
- control algorithm
- manipulation tasks
- multi robot
- human motion