Fractional Order Impedance Control

Guangrong Chen; Sheng Guo; Bowen Hou; Junzheng Wang; Xiangyang Wang

doi:10.1007/978-3-030-34747-5_17

Fractional Order Impedance Control

Guangrong Chen^*, Sheng Guo, Bowen Hou, Junzheng Wang, Xiangyang Wang

^*Corresponding author for this work

School of Automation

Beijing Jiaotong University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Citations (Scopus)

Abstract

This paper proposes a novel fractional order impedance control. An integral item is added into the traditional impedance model to eliminate the tracking error and the idea of fractional order is introduced to make the orders of inertia, damping, and stiffness are no longer only integers to achieve more significant compliant performance. Simulation results validate the advantages and proposed impedance control can be employed to absorb, hold, and dissipate system energy. It provides an insight for robot dynamic interaction, bouncing, and jumping control.

Original language	English
Title of host publication	Nonlinear Dynamics and Control - Proceedings of the 1st International Nonlinear Dynamics Conference, NODYCON 2019
Editors	Walter Lacarbonara, Balakumar Balachandran, Jun Ma, J.A. Tenreiro Machado, Gabor Stepan
Publisher	Springer Nature
Pages	167-175
Number of pages	9
ISBN (Electronic)	9783030347468
DOIs	https://doi.org/10.1007/978-3-030-34747-5_17
Publication status	Published - 2020
Event	1st International Nonlinear Dynamics Conference, NODYCON 2019 - Rome, Italy Duration: 17 Feb 2019 → 20 Feb 2019

Publication series

Name	Nonlinear Dynamics and Control - Proceedings of the 1st International Nonlinear Dynamics Conference, NODYCON 2019

Conference

Conference	1st International Nonlinear Dynamics Conference, NODYCON 2019
Country/Territory	Italy
City	Rome
Period	17/02/19 → 20/02/19

Keywords

Compliance control
Fractional order
Impedance control
Stability analysis

Access to Document

10.1007/978-3-030-34747-5_17

Cite this

Chen, G., Guo, S., Hou, B., Wang, J., & Wang, X. (2020). Fractional Order Impedance Control. In W. Lacarbonara, B. Balachandran, J. Ma, J. A. Tenreiro Machado, & G. Stepan (Eds.), Nonlinear Dynamics and Control - Proceedings of the 1st International Nonlinear Dynamics Conference, NODYCON 2019 (pp. 167-175). (Nonlinear Dynamics and Control - Proceedings of the 1st International Nonlinear Dynamics Conference, NODYCON 2019). Springer Nature. https://doi.org/10.1007/978-3-030-34747-5_17

Chen, Guangrong ; Guo, Sheng ; Hou, Bowen et al. / Fractional Order Impedance Control. Nonlinear Dynamics and Control - Proceedings of the 1st International Nonlinear Dynamics Conference, NODYCON 2019. editor / Walter Lacarbonara ; Balakumar Balachandran ; Jun Ma ; J.A. Tenreiro Machado ; Gabor Stepan. Springer Nature, 2020. pp. 167-175 (Nonlinear Dynamics and Control - Proceedings of the 1st International Nonlinear Dynamics Conference, NODYCON 2019).

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title = "Fractional Order Impedance Control",

abstract = "This paper proposes a novel fractional order impedance control. An integral item is added into the traditional impedance model to eliminate the tracking error and the idea of fractional order is introduced to make the orders of inertia, damping, and stiffness are no longer only integers to achieve more significant compliant performance. Simulation results validate the advantages and proposed impedance control can be employed to absorb, hold, and dissipate system energy. It provides an insight for robot dynamic interaction, bouncing, and jumping control.",

keywords = "Compliance control, Fractional order, Impedance control, Stability analysis",

author = "Guangrong Chen and Sheng Guo and Bowen Hou and Junzheng Wang and Xiangyang Wang",

note = "Publisher Copyright: {\textcopyright} 2020 Nonlinear Dynamics and Control - Proceedings of the 1st International Nonlinear Dynamics Conference, NODYCON 2019. All rights reserved.; 1st International Nonlinear Dynamics Conference, NODYCON 2019 ; Conference date: 17-02-2019 Through 20-02-2019",

year = "2020",

doi = "10.1007/978-3-030-34747-5_17",

language = "English",

series = "Nonlinear Dynamics and Control - Proceedings of the 1st International Nonlinear Dynamics Conference, NODYCON 2019",

publisher = "Springer Nature",

pages = "167--175",

editor = "Walter Lacarbonara and Balakumar Balachandran and Jun Ma and {Tenreiro Machado}, J.A. and Gabor Stepan",

booktitle = "Nonlinear Dynamics and Control - Proceedings of the 1st International Nonlinear Dynamics Conference, NODYCON 2019",

address = "Switzerland",

}

Chen, G, Guo, S, Hou, B, Wang, J & Wang, X 2020, Fractional Order Impedance Control. in W Lacarbonara, B Balachandran, J Ma, JA Tenreiro Machado & G Stepan (eds), Nonlinear Dynamics and Control - Proceedings of the 1st International Nonlinear Dynamics Conference, NODYCON 2019. Nonlinear Dynamics and Control - Proceedings of the 1st International Nonlinear Dynamics Conference, NODYCON 2019, Springer Nature, pp. 167-175, 1st International Nonlinear Dynamics Conference, NODYCON 2019, Rome, Italy, 17/02/19. https://doi.org/10.1007/978-3-030-34747-5_17

Fractional Order Impedance Control. / Chen, Guangrong; Guo, Sheng; Hou, Bowen et al.
Nonlinear Dynamics and Control - Proceedings of the 1st International Nonlinear Dynamics Conference, NODYCON 2019. ed. / Walter Lacarbonara; Balakumar Balachandran; Jun Ma; J.A. Tenreiro Machado; Gabor Stepan. Springer Nature, 2020. p. 167-175 (Nonlinear Dynamics and Control - Proceedings of the 1st International Nonlinear Dynamics Conference, NODYCON 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Fractional Order Impedance Control

AU - Chen, Guangrong

AU - Guo, Sheng

AU - Hou, Bowen

AU - Wang, Junzheng

AU - Wang, Xiangyang

PY - 2020

Y1 - 2020

N2 - This paper proposes a novel fractional order impedance control. An integral item is added into the traditional impedance model to eliminate the tracking error and the idea of fractional order is introduced to make the orders of inertia, damping, and stiffness are no longer only integers to achieve more significant compliant performance. Simulation results validate the advantages and proposed impedance control can be employed to absorb, hold, and dissipate system energy. It provides an insight for robot dynamic interaction, bouncing, and jumping control.

AB - This paper proposes a novel fractional order impedance control. An integral item is added into the traditional impedance model to eliminate the tracking error and the idea of fractional order is introduced to make the orders of inertia, damping, and stiffness are no longer only integers to achieve more significant compliant performance. Simulation results validate the advantages and proposed impedance control can be employed to absorb, hold, and dissipate system energy. It provides an insight for robot dynamic interaction, bouncing, and jumping control.

KW - Compliance control

KW - Fractional order

KW - Impedance control

KW - Stability analysis

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BT - Nonlinear Dynamics and Control - Proceedings of the 1st International Nonlinear Dynamics Conference, NODYCON 2019

A2 - Lacarbonara, Walter

A2 - Balachandran, Balakumar

A2 - Ma, Jun

A2 - Tenreiro Machado, J.A.

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PB - Springer Nature

T2 - 1st International Nonlinear Dynamics Conference, NODYCON 2019

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Chen G, Guo S, Hou B, Wang J, Wang X. Fractional Order Impedance Control. In Lacarbonara W, Balachandran B, Ma J, Tenreiro Machado JA, Stepan G, editors, Nonlinear Dynamics and Control - Proceedings of the 1st International Nonlinear Dynamics Conference, NODYCON 2019. Springer Nature. 2020. p. 167-175. (Nonlinear Dynamics and Control - Proceedings of the 1st International Nonlinear Dynamics Conference, NODYCON 2019). doi: 10.1007/978-3-030-34747-5_17

Fractional Order Impedance Control

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