This paper introduces an analysis of the phenomena of stability of synchronous machines under small perturbations by examining the case of a single machine connected to a large system through external impedance, and uses robust control H∞ techniques to design stabilizer for electric power system. H techniques that are used are H -optimal controller synthesis, H mixed sensitivity controller synt...

Continuous soft robots are becoming more and more widespread in applications, due to their increased safety and flexibility in critical applications. The possibility of having soft robots that are able to change their stiffness in selected parts can help in situations where higher forces need to be applied. This paper describes a theoretical framework for learning the desired stiffness characte...

In this paper, a method for optimizing the number and the configuration of control sources in an active control system is proposed. In the optimization process, sources are selected one by one so that the corresponding transfer impedance vector is the most linearly independent. From the results of the simulation, it is shown that the optimized configuration yields not only small average control...

The impedance control of dual-arm 7-DOF cooperative manipulators is considered in this paper. Global compliant behavior for the whole system is achieved using impedance at three levels, i.e. object, end-effector and body level. A centralized impedance control strategy is provided to confer a compliant behavior to the object, while an active decentralized impedance with force tracking control is...

Impedance control is a compliance control strategy capable of accommodating both unconstrained and constrained motions. The performance of impedance controllers depends heavily upon environment dynamics and the choice of target impedance. To maintain performance for a wide range of environments, target impedance needs to be adjusted adaptively. In this paper, a geometric view on impedance contr...

A master-slave type remote ultrasound diagnostic system was developed. This paper presents its controller. The controller has impedance control capability for the master and slave manipulators' positions. And it has also continuous path(CP) control capability for the slave manipulator's orientation. The impedance control allows the master and slave manip-ulators to move according to the motion ...

Impedance control of a hydraulic servoactuator joint system is discussed in this paper. Impedance control imparts a desired behavior to a system, rather than it controls position or force individually. Due to nonlinear properties of hydraulic actuators, impedance control is difficult. The control strategy presented here involves a combined feedforward and feedback control. An impedance filter m...