Design and Performance Evaluation of a <i>μ</i>-Synthesis-Based Robust Impedance Controller for Robotic Joints
This paper proposes a robust impedance controller to address the performance limitations of mechanical impedance rendering in robotic joints, enabling stable interaction with passive environments. Considering structured uncertainties, such as dynamic parameter perturbations, sensor noise, disturbanc...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-05-01
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| Series: | Actuators |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-0825/14/6/266 |
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