The Robotic Force Tracking Based on Single Input Fuzzy Adaptive Controller

摘要：

In order to realize precise contact tasks with an unknown environment, robotic force controllers have to adapt themselves to the unknown environment. In this paper, an effective controller for robot contact tasks is proposed using sliding mode switching surface as a sole fuzzy input variable for substituting the feedback controller in the model reference adaptive control (MRAC), the fuzzy force controller determines the adjustment to the position control loop, adjust the fuzzy controller parameters according to the difference between the actual and desired force responses. There is a sole fuzzy input variable in fuzzy logical controller(FLC), the total number of rules is greatly reduced compared to conventional FLC, hence generations and tuning of controller are more simple and easy. Simulations prove that the excellent adaptability as well as high precision is obtained by the proposed strategy.

关键词： Single input fuzzy control Model reference Force control

作者: Er Chao Li Zhan Ming Li

作者单位: College of Electrical and Information Engineering, Lanzhou University of Technology, China Key Laboratory of Gansu Advanced Control for Industrial Processes, China

会议类型: 国际会议

会议名称: 2011 International Conference on Mechatronics and Materials Processing(2011年机电一体化与材料加工国际会议 ICMMP)

会议地点: 广州

会议语种:英文

页码: 2117-2120

在线出版日期: 2011-11-18（万方平台首次上网日期，不代表论文的发表时间）