A Passivity Based Command-Governor Control Approach

Alessandro Casavola, Michela Sorbara, Stefano Stramigioli

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    1 Citation (Scopus)

    Abstract

    In this paper an extension of the basic Command Governor approach for manipulation of dynamic systems is proposed. This work presents a way to incorporate kinetostatic feedback to the operator maintaining the passivity of the closed-loop system. Preliminary simulation results, without time-delay, are presented showing the theoretically expected effectiveness of the proposed method.
    Original languageUndefined
    Title of host publicationProceeding of the 8th International IFAC Symposium on Robot Control
    PublisherIFAC
    PagesPaper 91
    Number of pages6
    ISBN (Print)978-3-902661-16-6
    DOIs
    Publication statusPublished - Sep 2006
    Event8th International IFAC Symposium on Robot Control, SYROCO 2006 - Bologna, Italy
    Duration: 6 Sep 20068 Sep 2006
    Conference number: 8

    Publication series

    Name
    PublisherIFAC
    Number1
    Volume8

    Conference

    Conference8th International IFAC Symposium on Robot Control, SYROCO 2006
    Abbreviated titleSYROCO
    CountryItaly
    CityBologna
    Period6/09/068/09/06

    Keywords

    • IR-62278
    • EWI-12667
    • CE-Advanced Robotics
    • METIS-248245

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