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Smooth switching control for transfer from the Automatic Traveling Mode to the Power Assist Mode of the Skill‐Assist
Author(s) -
Lee Suwoong,
Yoon SeongSik,
Hara Susumu,
Yamada Yoji
Publication year - 2007
Publication title -
ieej transactions on electrical and electronic engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.254
H-Index - 30
eISSN - 1931-4981
pISSN - 1931-4973
DOI - 10.1002/tee.20195
Subject(s) - mode (computer interface) , maximum power transfer theorem , impedance control , control (management) , transfer (computing) , power (physics) , electrical impedance , engineering , transfer function , computer science , control theory (sociology) , control engineering , electronic engineering , electrical engineering , artificial intelligence , physics , human–computer interaction , quantum mechanics , parallel computing
The objective of this study is to verify a smooth switching control method for transfer from the automatic traveling mode (ATM) to the power assist mode (PAM) of Skill‐Assist. A control law including time‐varying impedance parameters is utilized to attain the objective. The experimental result shows that the transfer from ATM to PAM was successfully performed by the smooth switching control method. © 2007 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.