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Robust control of dynamically interacting systems
Abstract
Dynamic interaction with the environment is fundamental to the process of manipulation. This paper describes an approach to the design of ‘interaction controllers’ and contrasts this with an approach to servo design. The need for ‘coupled stability’ and ‘interactive behaviour’ specifications is motivated. A necessary and sufficient condition to ensure the stability of a linear manipulator coupled at a single interaction port to a linear, passive environment is found. It is shown that this condition may be extended to a broad class of active environments, and a simple test for coupled stability, based on the root locus, is presented. Two interaction controller designs for a linear manipulator are presented. Interactive behaviour is analysed in the frequency domain by comparison with the behaviour of a target model. A simple controller shows strong stability properties, but poor behaviour; a more sophisticated design shows that it is possible to achieve desirable behaviour while retaining stability guarantees.
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Cited by
The central nervous system stabilizes unstable dynamics by learning optimal impedance
Burdet, E., Osu, R., Franklin, D. W., Milner, T. E., & Kawato, M. (2001) · Nature · doi:10.1038/35106566 · Cited by 1,097
Control strategies for active lower extremity prosthetics and orthotics: a review
Tucker, M. R., Olivier, J., Pagel, A., Bleuler, H., Bouri, M., Lambercy, O., Millán, J. D. R., Riener, R., Vallery, H., & Gassert, R. (2015) · Journal of NeuroEngineering and Rehabilitation · doi:10.1186/1743-0003-12-1 · Cited by 1,047
“that the device is controlled to store or dissipate energy, but not add) provides a means to guarantee the stability of the device as it interacts with the user and his environment [182,200,202].”
Yokokohji, Y., & Yoshikawa, T. (1994) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.326566 · Cited by 939
Modeling piezoelectric stack actuators for control of micromanipulation
(1997) · IEEE Control Systems · doi:10.1109/37.588158 · Cited by 668
Hashtrudi-Zaad, K., & Salcudean, S. E. (2002) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.988981 · Cited by 373
Metadata
- Authors
- COLGATE, J. E., & HOGAN, N.
- Venue
- International Journal of Control
- Publisher
- Informa UK Limited
- Published
- 1988-07
- Volume
- 48
- Issue
- 1
- Pages
- 65-88
- ISSN
- 0020-7179 (ISSN-L)
- 1366-5820
- OpenAlex
- W1974357213
- Cited by
- 589
- References
- 0
- FWCI
- 9.67
- Type
- journal article
- Language
- en
- Open access
- closed
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- COLGATE, J. E., & HOGAN, N. (1988). Robust control of dynamically interacting systems. International Journal of Control. https://doi.org/10.1080/00207178808906161
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
