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Adaptive Impedance Control for Unknown Time-Varying Environment Position and Stiffness

Authors: Norsinnira Zainul Azlan, Hiroshi Yamaura


This study is concerned with a new adaptive impedance control strategy to compensate for unknown time-varying environment stiffness and position. The uncertainties are expressed by Function Approximation Technique (FAT), which allows the update laws to be derived easily using Lyapunov stability theory. Computer simulation results are presented to validate the effectiveness of the proposed strategy.

Keywords: Adaptive Impedance Control, Function Approximation Technique (FAT), unknown time-varying environment position and stiffness

Digital Object Identifier (DOI):

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