IEEE - Institute of Electrical and Electronics Engineers, Inc. - A simulation/experimental study of the noisy behavior of the time-domain passivity controller

Author(s): Jee-Hwan Ryu ; B. Hannaford ; Dong-Soo Kwon ; Jong-Hwan Kim
Sponsor(s): IEEE Robotics and Automation Society
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 August 2005
Volume: 21
Page(s): 733 - 741
ISSN (Paper): 1552-3098
ISSN (Online): 1941-0468
DOI: 10.1109/TRO.2005.847611
Regular:

A noisy behavior of the time-domain passivity controller during the period of low velocity is analyzed. Main reasons of the noisy behavior are investigated through a simulation with a one-DOF... View More

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