The Robotic Force Tracking Based on Single Input Fuzzy Adaptive Controller

Er Chao Li; Zhan Ming Li

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

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 328-330The Robotic Force Tracking Based on Single Input...

The Robotic Force Tracking Based on Single Input Fuzzy Adaptive Controller

Abstract:

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.

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Periodical:

Advanced Materials Research (Volumes 328-330)

Pages:

2117-2120

DOI:

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

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Online since:

September 2011

Authors:

Er Chao Li, Zhan Ming Li

Keywords:

Force Control, Model Reference, Single Input Fuzzy Control

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References

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