Acceso abierto

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

   | 04 feb 2022

Cite

1. Liang L, Chen Y, Liao L, Sun H, Liu YJR, Manufacturing C-I. A novel impedance control method of rubber unstacking robot dealing with unpredictable and time-variable adhesion force. 2021;67:102038. Search in Google Scholar

2. Cao H, He Y, Chen X, Zhao XJIRtijorr, application. Smooth adaptive hybrid impedance control for robotic contact force tracking in dynamic environments. 2020.10.1108/IR-09-2019-0191 Search in Google Scholar

3. Mokhtari M, Taghizadeh M, Mazare MJR. Hybrid adaptive robust control based on CPG and ZMP for a lower limb exoskeleton. 2021;39(2):181-99. Search in Google Scholar

4. Dong Y, Ren T, Wu D, Chen KJJoI, Systems R. Compliance control for robot manipulation in contact with a varied environment based on a new joint torque controller. 2020;99(1):79-90. Search in Google Scholar

5. Raibert MH, Craig JJ. Hybrid position/force control of manipulators. 1981.10.1115/1.3139652 Search in Google Scholar

6. Mason MTJIToS, Man,, Cybernetics. Compliance and force control for computer controlled manipulators. 1981;11(6):418-32. Search in Google Scholar

7. Hogan N. Impedance control: An approach to manipulation: Part I—Theory. 1985.10.23919/ACC.1984.4788393 Search in Google Scholar

8. Komati B, Pac MR, Ranatunga I, Clévy C, Popa DO, Lutz P, editors. Explicit force control vs impedance control for micromanipulation. International Design Engineering Technical Conferences and Computers and Information in Engineering Conference; 2013: American Society of Mechanical Engineers.10.1115/DETC2013-13067 Search in Google Scholar

9. Wu J, Ni F, Zhang Y, Fan S, Zhang Q, Lu J, et al. Smooth transition adaptive hybrid impedance control for connector assembly. 2018.10.1108/IR-11-2017-0193 Search in Google Scholar

10. Akdoğan E, Aktan ME, Koru AT, Arslan MS, Atlıhan M, Kuran BJM. Hybrid impedance control of a robot manipulator for wrist and forearm rehabilitation: Performance analysis and clinical results. 2018;49:77-91. Search in Google Scholar

11. Jung S, Hsia TC, Bonitz RGJIToCST. Force tracking impedance control of robot manipulators under unknown environment. 2004;12(3):474-83. Search in Google Scholar

12. Duan J, Gan Y, Chen M, Dai XJR, Systems A. Adaptive variable impedance control for dynamic contact force tracking in uncertain environment. 2018;102:54-65. Search in Google Scholar

13. Solanes JE, Gracia L, Muñoz-Benavent P, Esparza A, Miro JV, Tornero JJR, et al. Adaptive robust control and admittance control for contact-driven robotic surface conditioning. 2018;54:115-32. Search in Google Scholar

14. Lu Z, Goldenberg AAJTIjorr. Robust impedance control and force regulation: Theory and experiments. 1995;14(3):225-54. Search in Google Scholar

15. Fateh MM, Khorashadizadeh SJND. Robust control of electrically driven robots by adaptive fuzzy estimation of uncertainty. 2012;69(3):1465-77. Search in Google Scholar

16. Li Y, Ge SS, Zhang Q, Lee THJICT, Applications. Neural networks impedance control of robots interacting with environments. 2013;7(11):1509-19. Search in Google Scholar

17. Cao H, Chen X, He Y, Zhao XJIA. Dynamic adaptive hybrid impedance control for dynamic contact force tracking in uncertain environments. 2019;7:83162-74. Search in Google Scholar

18. Xu WJJoDS, Measurement,, Control. Robotic time-varying force tracking in position-based impedance control. 2016;138(9):091008. Search in Google Scholar

19. Sheng X, Zhang XJM. Fuzzy adaptive hybrid impedance control for mirror milling system. 2018;53:20-7. Search in Google Scholar

20. Zhou Q, Li H, Shi PJIToFS. Decentralized adaptive fuzzy tracking control for robot finger dynamics. 2014;23(3):501-10. Search in Google Scholar

21. Nikdel N, Badamchizadeh M, Azimirad V, Nazari MAJIToIE. Fractional-order adaptive backstepping control of robotic manipulators in the presence of model uncertainties and external disturbances. 2016;63(10):6249-56. Search in Google Scholar

22. Zhong J, Li LJItocst. Tuning Fractional-Order ${PI}^{\lambda}{D}^{\mu} $ Controllers for a Solid-Core Magnetic Bearing System. 2015;23(4):1648-56. Search in Google Scholar

23. Padula F, Visioli AJICT, Applications. Optimal tuning rules for proportional-integral-derivative and fractional-order proportional-integral-derivative controllers for integral and unstable processes. 2012;6(6):776-86. Search in Google Scholar

24. Aguila-Camacho N, Duarte-Mermoud MAJIt. Fractional adaptive control for an automatic voltage regulator. 2013;52(6):807-15. Search in Google Scholar

25. Shahri ESA, Alfi A, Machado JTJASC. Fractional fixed-structure H∞ controller design using augmented lagrangian particle swarm optimization with fractional order velocity. 2019;77:688-95. Search in Google Scholar

26. Haji VH, Monje CAJAsc. Fractional order fuzzy-PID control of a combined cycle power plant using Particle Swarm Optimization algorithm with an improved dynamic parameters selection. 2017;58:256-64. Search in Google Scholar

27. Efe MÖJIToII. Fractional order systems in industrial automation—a survey. 2011;7(4):582-91. Search in Google Scholar

28. Ahmed S, Wang H, Tian YJAJoC. Robust adaptive fractional-order terminal sliding mode control for lower-limb exoskeleton. 2019;21(1):473-82. Search in Google Scholar

29. Efe MÖJTotIoM, Control. Integral sliding mode control of a quadrotor with fractional order reaching dynamics. 2011;33(8):985-1003. Search in Google Scholar

30. Feliu-Talegon D, Feliu-Batlle V, Tejado I, Vinagre BM, HosseinNia SHJIt. Stable force control and contact transition of a single link flexible robot using a fractional-order controller. 2019;89:139-57. Search in Google Scholar

31. Muñoz-Vázquez AJ, Gaxiola F, Martínez-Reyes F, Manzo-Martínez AJAsc. A fuzzy fractional-order control of robotic manipulators with PID error manifolds. 2019;83:105646. Search in Google Scholar

32. Oustaloup A, Levron F, Mathieu B, Nanot FMJIToC, Theory SIF, Applications. Frequency-band complex noninteger differentiator: characterization and synthesis. 2000;47(1):25-39. Search in Google Scholar

33. Wang Y, Luo G, Gu L, Li XJJoV, Control. Fractional-order nonsingular terminal sliding mode control of hydraulic manipulators using time delay estimation. 2016;22(19):3998-4011. Search in Google Scholar