@inproceedings{38ccda4555204547912da77a81c3e197,
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",
}