Robust Admittance Control With Complementary Passivity

This paper studies a robust admittance control problem with a passivity requirement for stable and unstable linear time-invariant systems, motivated by control issues originated from physical human-robot interaction. A complementary admittance control structure is proposed and analyzed, revealing that the nominal performance (admittance tracking and passivity) is decoupled from robustness. Simulations on the admittance control for human arm strength augmentation with a passivity requirement validate the proposed controller design.