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Force Control applied on the Simscape Model

Cascade Control where the inner loop goal is to control the total wrench (forces and torques) applied to the upper part of the nano-hexapod.

The force will induce an acceleration of the upper part, thus we can consider the new input \(\bm{r}_\mathcal{F}\) as an acceleration input.

Ideas:

control_cascade_force_F.png

control_cascade_force_tau.png

Author: Dehaeze Thomas

Created: 2020-03-26 jeu. 17:25