Necessary and Sufficient Conditions for Passivity of Velocity-Sourced Impedance Control of Series Elastic Actuators.
Fatih Emre TosunVolkan PatogluPublished in: CoRR (2019)
Keyphrases
- sufficient conditions
- impedance control
- force control
- optimal control
- model free
- manipulation tasks
- degrees of freedom
- asymptotic stability
- control system
- boundary conditions
- robot manipulators
- motor control
- mathematical model
- reinforcement learning
- lyapunov function
- control strategy
- exponential stability
- position control