A fuzzy adaptive admittance controller for force tracking in an uncertain contact environment

Autor:	Zhisen Li, Hailin Huang, Xiaogang Song, Wenfu Xu, Bing Li
Jazyk:	angličtina
Rok vydání:	2021
Předmět:	Control system analysis and synthesis methods Stability in control theory Self‐adjusting control systems Fuzzy control Mechanical variables control Manipulators Control engineering systems. Automatic machinery (General) TJ212-225
Zdroj:	IET Control Theory & Applications, Vol 15, Iss 17, Pp 2158-2170 (2021)
Druh dokumentu:	article
ISSN:	1751-8652 1751-8644
DOI:	10.1049/cth2.12175
Popis:	Abstract Traditional constant admittance controller (CAC) in uncertain contact environment is highly dependent on environmental location and stiffness, which are always difficult to obtain in most applications. To address this problem, a fuzzy adaptive admittance controller (FAAC) based on fuzzy inference rules is proposed in this paper. Firstly, an adaptive admittance controller (AAC) that can compensate for the admittance parameters in real time based on force error information is proposed. Secondly, a fuzzy logic loop is introduced into the adaptive term of the AAC system to reduce the overshoot when force tracking, thus creating the FAAC. The detailed design method of FAAC is presented, and the stability conditions are analysed. Finally, simulations and experiments are conducted in several dynamic environments to demonstrate the force tracking performance of the proposed controller.
Databáze:	Directory of Open Access Journals
Externí odkaz:	https://doaj.org/article/3af7fa92bc3d4ccbae970e8e7582fa55 Zobrazit plný text záznamu Plný text View record in DOAJ