IEEE - Institute of Electrical and Electronics Engineers, Inc. - Impedance control based on a multi-time-scale approach: Extended High-Gain Observers and dynamic inversion

2016 IEEE Conference on Control Applications (CCA)

Author(s): Joonho Lee ; Hanz Richter
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 September 2016
Conference Location: Buenos Aires, Argentina
Conference Date: 19 September 2016
Page(s): 1,197 - 1,202
ISBN (Electronic): 978-1-5090-0755-4
DOI: 10.1109/CCA.2016.7587969
Regular:

We propose a new impedance controller using a multi-time-scale structure. Extended High-Gain Observers in the fastest time scale are used to estimate unmeasured system states and uncertainties in... View More

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