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Communication Dans Un Congrès Année : 2008

Robust motion synchronization control for interconnected systems with human interaction

Résumé

This paper addresses synchronization control and the associated practical issues for the class of interconnected systems with time delay. We consider uncertainty in the plant model as a disturbance, and to cope with it, a disturbance compensation scheme - the so-called disturbance observer - is presented. We examine the performance of the compensation scheme and its effect to overall stability. For applications with human interaction, the effect of additional dynamics from human operator is also investigated. To validate our claims on these issues, numerical simulations are presented. Copyright © 2007 International Federation of Automatic Control All Rights Reserved.

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Dates et versions

hal-02291753 , version 1 (19-09-2019)

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Joono Cheong, Silviu-Iulian Niculescu. Robust motion synchronization control for interconnected systems with human interaction. 17th World Congress, International Federation of Automatic Control, IFAC, Jul 2008, Seoul, Unknown Region. ⟨10.3182/20080706-5-KR-1001.2974⟩. ⟨hal-02291753⟩
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