Research on the Fuzzy PID-based Control of Haptic System
An adaptive impedance control scheme has been proposed in this paper to alleviate some of the problems associated with the impact of feedback force in a haptic system. Continuous on-line estimation of the virtual environments impedance is performed, and is then used as a local model for force rendering control. For the problem of the haptic system existed the impact of feedback force in virtual environment, a new algorithm is proposed which use the nonlinearfuzzy- continuous force feedback to setup the fuzzy adaptive PID control scheme. Two performance measures are denned to assess transparency and stability of the haptic system. Simulation results have shown the superior performance of the adaptive scheme, with respect to direct operation, particularly in terms of increasing the stability and of ameliorating transparency significantly in the presence of Gravity well margin. Experimental results, using a Phantom Omni as the haptic master device, support this conclusion.
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Wei-dong Chen Qi-guang Zhu Ying Chen
Institute of Information Science and Engineering Yanshan University Qinhuangdao, China Institute of Electrical Engineering Yanshan University Qinhuangdao, China
国际会议
哈尔滨
英文
1000-1003
2011-12-24（万方平台首次上网日期，不代表论文的发表时间）