Actuator Capabilities Aware Limitation for TDPA Passivity Controller Action.
Francesco PorciniAlessandro FilippeschiMassimiliano SolazziCarlo Alberto AvizzanoAntonio FrisoliPublished in: ICRA (2023)
Keyphrases
- control system
- closed loop
- impedance control
- dc motor
- trajectory tracking
- sliding mode
- control method
- real time
- pid controller
- variable structure
- control strategy
- control scheme
- control algorithm
- control law
- neural network
- position control
- controller design
- feedback control
- initial state
- force control
- sliding mode control
- degrees of freedom
- mobile robot
- control architecture
- stability analysis
- adaptive control
- optimal control