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A Multistage Position/Force Control for Constrained Robotic Systems With Friction: Joint-Space Decomposition, Linearization, and Multiobjective Observer/Controller Synthesis Using LMI Formalism

Karim Khayati, Pascal Bigras, Louis-A. Dessaint. A Multistage Position/Force Control for Constrained Robotic Systems With Friction: Joint-Space Decomposition, Linearization, and Multiobjective Observer/Controller Synthesis Using LMI Formalism. IEEE Transactions on Industrial Electronics, 53(5):1698-1712, 2006. [doi]

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