A Passivity-based Approach for Variable Stiffness Control with Dynamical Systems.
Youssef MichelMatteo SaverianoDongheui LeePublished in: CoRR (2023)
Keyphrases
- dynamical systems
- control theory
- impedance control
- differential equations
- dynamic systems
- nonlinear dynamics
- state space
- nonlinear dynamical systems
- linear quadratic
- linear systems
- qualitative simulation
- force control
- phase space
- control method
- variable structure
- predictive state representations
- partially observable
- sliding mode
- optimal control
- control strategies
- dynamical models
- control strategy
- dynamical behavior
- video sequences