The robotic force tracking based on single input fuzzy adaptive controller

doi:10.4028/www.scientific.net/AMR.328-330.2117

CORC > 兰州理工大学 > 兰州理工大学

	The robotic force tracking based on single input fuzzy adaptive controller
	Li, Er Chao 1; Li, Zhan Ming 2
	2011
会议日期	November 18, 2011 - November 20, 2011
会议地点	Guangzhou, China
关键词	Controllers Force control Fuzzy control Mechatronics Robotics Robots Contact task Feedback controller Force controller Force response Force tracking Fuzzy adaptive controller Fuzzy controllers Fuzzy input Fuzzy logical controller High precision Model reference Position control loop Single input Sliding modes Unknown environments
卷号	328-330
DOI	10.4028/www.scientific.net/AMR.328-330.2117
页码	2117-2120
英文摘要	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. © 2011 Trans Tech Publications.
会议录	Advanced Materials Research
会议录出版者	Trans Tech Publications, P.O. Box 1254, Clausthal-Zellerfeld, D-38670, Germany
语种	英语
ISSN号	10226680
内容类型	会议论文
源URL	[http://ir.lut.edu.cn/handle/2XXMBERH/116615]
专题	兰州理工大学
作者单位	1.College of Electrical and Information Engineering, Lanzhou University of Technology, China; 2.Key Laboratory of Gansu Advanced Control for Industrial Processes, China
推荐引用方式 GB/T 7714	Li, Er Chao,Li, Zhan Ming. The robotic force tracking based on single input fuzzy adaptive controller[C]. 见:. Guangzhou, China. November 18, 2011 - November 20, 2011.