Impedance Sliding Mode Control With Adaptive Fuzzy Compensation for Robot-Environment Interacting

被引：16

作者：

Hu, Heyu ^{[1
]}

Wang, Xiaoqi ^{[1
]}

Chen, Lerui ^{[1
]}

机构：

[1] Xi An Jiao Tong Univ, Sch Elect & Informat Engn, Xian 710049, Peoples R China

来源：

IEEE ACCESS | 2020年 / 8卷

关键词：

Impedance control; robot-environment interacting; force; position control; uncertainty; ELECTRICALLY-DRIVEN ROBOTS; FORCE TRACKING; MANIPULATORS; OBJECTS;

D O I：

10.1109/ACCESS.2020.2968954

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In the field of robot research and application, improving the interaction performance between robots and the environment is the basic requirement of robot control. Hence, the position/force control problem needs to be solved. However, in practice, the model of the robot is usually inaccurate, and the working environment is usually uncertain. To solve the position/force control problem of the robot when the model and position are uncertain, a new method of impedance sliding mode control with adaptive fuzzy compensation (ISMCAF) is proposed. The dynamics of the robot are governed to follow a target impedance model and the interaction control objective is achieved. According to Lyapulov;s theory, sliding mode control law and adaptive control law are designed to ensure the stability of the closed-loop system. The proposed method is further verified by simulation.

引用

页码：19880 / 19889

页数：10

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