Application of μ theory in compliant force control

Hui Zhao, Hui Zhang, Shangying Zhang, Junwei Han

Research output: Contribution to journalArticlepeer-review

2 Scopus citations

Abstract

Application of μ theory in compliant force control system is studied. Compliant force control strategy is developed based on the inner loop position control of 6-DOF parallel robot in order to simulate pushing and pulling procedure of forcible alignment of space docking. The cascade structure of out-force-loop containing inner-position-loop is depicted, and the method is set forth using classical control strategy to realize compliant force control. Considering uncertainties such as parameter perturbations, model perturbations and external disturbances, etc, robust force controller is designed using μ synthesis theory. It is listed in detail that the selection method of weighting functions in robust compliant force control loop and the designing procedure of robust force controller. Robust stability and robust performance are compared between robust force controller and classical force controllers by μ analysis. Experiment of robust force controller and classical force controllers is presented. The results indicate that the designed robust force controller is of efficiency and superiority.

Original languageEnglish
Pages (from-to)97-102
Number of pages6
JournalJixie Gongcheng Xuebao/Journal of Mechanical Engineering
Volume43
Issue number12
DOIs
StatePublished - Dec 2007
Externally publishedYes

Keywords

  • μ analysis
  • μ synthesis
  • Compliance force control
  • Parallel robot
  • Robust
  • Uncertainty

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