TPτ Transformation Based Control Design for Impedance Controlled Robot Gripper

  • Péter Baranyi


The goal of this chapter is to design the controller to the model. First we select the CNO type reduced TP model derived in the previous chapter then we execute the LMI based design. We derive three controllers with different conditions. Finally we check and analyze the resulting controllers via numerical simulations.


Impedance control Control design Time delay 


  1. 1.
    S. Hirche, M. Buss, Study of teleoperation using realtime communication network emulation, in 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings, July 2003, pp. 586–591Google Scholar
  2. 2.
    K. Tanaka, H.O. Wang, Fuzzy Control Systems Design and Analysis: A Linear Matrix Inequality Approach (Wiley-Interscience, New York, 2001)Google Scholar

Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Péter Baranyi
    • 1
  1. 1.Technology and EconomicsSzecheny Istvan University and Budapest Univerity of Technology and EconomicsBudapestHungary

Personalised recommendations