Fractional Order Impedance Control

DOI10.1007/978-3-030-34747-5_17zbMath1454.93191OpenAlexW4229608394MaRDI QIDQ5141262

Junzheng Wang, Sheng Guo, Xiang-Yang Wang, Bowen Hou, Guangrong Chen

Publication date: 18 December 2020

Published in: Nonlinear Dynamics and Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/978-3-030-34747-5_17

zbMATH Keywords

stability analysisfractional orderimpedance controlcompliance control

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Fractional derivatives and integrals (26A33) Control/observation systems governed by ordinary differential equations (93C15)

Cites Work

• Animals prefer leg stiffness values that may reduce the energetic cost of locomotion
• The leg stiffnesses animals use may improve the stability of locomotion
• Impedance Control: An Approach to Manipulation: Part III—Applications

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