A fuzzy adaptive admittance controller for force tracking in an uncertain contact environment
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 inf...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2021-11-01
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| Series: | IET Control Theory & Applications |
| Subjects: | |
| Online Access: | https://doi.org/10.1049/cth2.12175 |
| _version_ | 1811183591230537728 |
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| author | Zhisen Li Hailin Huang Xiaogang Song Wenfu Xu Bing Li |
| author_facet | Zhisen Li Hailin Huang Xiaogang Song Wenfu Xu Bing Li |
| author_sort | Zhisen Li |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-04-11T09:49:29Z |
| format | Article |
| id | doaj.art-3af7fa92bc3d4ccbae970e8e7582fa55 |
| institution | Directory Open Access Journal |
| issn | 1751-8644 1751-8652 |
| language | English |
| last_indexed | 2024-04-11T09:49:29Z |
| publishDate | 2021-11-01 |
| publisher | Wiley |
| record_format | Article |
| series | IET Control Theory & Applications |
| spelling | doaj.art-3af7fa92bc3d4ccbae970e8e7582fa552022-12-22T04:30:51ZengWileyIET Control Theory & Applications1751-86441751-86522021-11-0115172158217010.1049/cth2.12175A fuzzy adaptive admittance controller for force tracking in an uncertain contact environmentZhisen Li0Hailin Huang1Xiaogang Song2Wenfu Xu3Bing Li4School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen 518055 People's Republic of ChinaSchool of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen 518055 People's Republic of ChinaSchool of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen 518055 People's Republic of ChinaSchool of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen 518055 People's Republic of ChinaSchool of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen 518055 People's Republic of ChinaAbstract 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.https://doi.org/10.1049/cth2.12175Control system analysis and synthesis methodsStability in control theorySelf‐adjusting control systemsFuzzy controlMechanical variables controlManipulators |
| spellingShingle | Zhisen Li Hailin Huang Xiaogang Song Wenfu Xu Bing Li A fuzzy adaptive admittance controller for force tracking in an uncertain contact environment IET Control Theory & Applications Control system analysis and synthesis methods Stability in control theory Self‐adjusting control systems Fuzzy control Mechanical variables control Manipulators |
| title | A fuzzy adaptive admittance controller for force tracking in an uncertain contact environment |
| title_full | A fuzzy adaptive admittance controller for force tracking in an uncertain contact environment |
| title_fullStr | A fuzzy adaptive admittance controller for force tracking in an uncertain contact environment |
| title_full_unstemmed | A fuzzy adaptive admittance controller for force tracking in an uncertain contact environment |
| title_short | A fuzzy adaptive admittance controller for force tracking in an uncertain contact environment |
| title_sort | fuzzy adaptive admittance controller for force tracking in an uncertain contact environment |
| topic | Control system analysis and synthesis methods Stability in control theory Self‐adjusting control systems Fuzzy control Mechanical variables control Manipulators |
| url | https://doi.org/10.1049/cth2.12175 |
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