<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>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.</p>
</abstract>

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.

Design of a Fuzzy Fractional Order Adaptive Impedance Controller with Integer Order Approximation for Stable Robotic Contact Force Tracking in Uncertain Environment

Key Laboratory of Advanced Transducers and Intelligent Control System of Ministry of Education

Acta Mechanica et Automatica

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Current research in robot compliance control is unable to take both transient contact force overshoots and steady-state force tracking problems into account....

Design of a Fuzzy Fractional Order Adaptive Impedance Controller with Integer Order Approximation for Stable Robotic Contact Force Tracking in Uncertain Environment

Publicado en línea: 04 feb 2022

Páginas: 16 - 26

Recibido: 30 jun 2021

Aceptado: 25 sept 2021

DOI: https://doi.org/10.2478/ama-2022-0003

Palabras clave
adaptive impedance control, contact interactions, fractional order, fuzzy logic, integer order approximation

© 2022 Hongli Cao, published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Design of a Fuzzy Fractional Order Adaptive Impedance Controller with Integer Order Approximation for Stable Robotic Contact Force Tracking in Uncertain Environment

Publicado en línea: 04 feb 2022

Páginas: 16 - 26

Recibido: 30 jun 2021

Aceptado: 25 sept 2021

DOI: https://doi.org/10.2478/ama-2022-0003

Palabras claveadaptive impedance control, contact interactions, fractional order, fuzzy logic, integer order approximation

© 2022 Hongli Cao, published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Palabras clave
adaptive impedance control, contact interactions, fractional order, fuzzy logic, integer order approximation