ICRA 2018poster21 citations
An Energy-Based Approach for the Multi-Rate Control of a Manipulator on an Actuated Base
Marco De Stefano, Ribin Balachandran, Alessandro M. Giordano, Christian Ott, Cristian Secchi
Abstract
In this paper we address the problem of controlling a robotic system mounted on an actuated floating base for space applications. In particular, we investigate the stability issues due to the low rate of the base control unit. We propose a passivity-based stabilizing controller based on the time domain passivity approach. The controller uses a variable damper regulated by a designed energy observer. The effectiveness of the proposed strategy is validated on a base-manipulator multibody simulation.
BibTeX
@inproceedings{icra2018_anenergybasedapp,
title = {An Energy-Based Approach for the Multi-Rate Control of a Manipulator on an Actuated Base},
author = {Marco De Stefano and Ribin Balachandran and Alessandro M. Giordano and Christian Ott and Cristian Secchi},
booktitle = {ICRA 2018},
year = {2018}
}