- Tytuł:
- Design of a fuzzy fractional order adaptive impedance controller with integer order approximation for stable robotic contact force tracking in uncertain environment
- Autorzy:
- Cao, Hongli
- Powiązania:
- https://bibliotekanauki.pl/articles/2106174.pdf
- Data publikacji:
- 2022
- Wydawca:
- Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
- Tematy:
-
adaptive impedance control
contact interactions
fractional order
fuzzy logic
integer order approximation - Opis:
- Current research in robot compliance control is unable to take both transient contact force overshoots and steady-state force tracking problems into account. To address this problem, we propose a fuzzy fractional order (FO) adaptive impedance controller to avoid the force overshoots in the contact stage while keeping force error in the dynamic tracking stage, where traditional control algorithms are not competent. A percentage gain is adopted to map FO parameters to integer order (IO) parameters by their natural properties, and a fuzzy logical controller is introduced to improve the system stability. The simulation results indicate that the proposed controller can be made more stable than and superior to the general impedance controller, and the force tracking results also have been compared with the previous control methods.
- Źródło:
-
Acta Mechanica et Automatica; 2022, 16, 1; 16--26
1898-4088
2300-5319 - Pojawia się w:
- Acta Mechanica et Automatica
- Dostawca treści:
- Biblioteka Nauki
Artykuł