Control of interconnected mechanical systems

Şabanoviç, Asif and Şabanoviç, Nadira and Ohnishi, Kouhei (2008) Control of interconnected mechanical systems. In: The 17th World Congress The International Federation of Automatic Control, Seoul, Korea

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In this paper control systems design approach, based on siding mode methods, that allows maintain some functional relation – like bilateral or multilateral systems, establishment of virtual relation among mobile robots or control of haptic systems - is presented. It is shown that all basic motion control problems - trajectory tracking, force control, hybrid position/force control scheme and the impedance control for the interacting systems- can be treated in the same way while avoiding the structural change of the controller and guarantying stable behavior of the system In order to show applicability of the proposed techniques simulation and experimental results for high precision systems in microsystems assembly tasks are presented..
Item Type: Papers in Conference Proceedings
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Faculty of Engineering and Natural Sciences > Academic programs > Mechatronics
Depositing User: Asif Şabanoviç
Date Deposited: 21 Oct 2008 12:15
Last Modified: 26 Apr 2022 08:46

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