Adaptive Fuzzy Finite-Time Command Filtered Impedance Control for Robotic Manipulators

被引：15

作者：

Lin, Gaorong ^{[1
,2
]}

Yu, Jinpeng ^{[1
,2
]}

Liu, Jiapeng ^{[1
,2
]}

机构：

[1] Qingdao Univ, Sch Automat, Qingdao 266071, Peoples R China

[2] Qingdao Univ, Shandong Key Lab Ind Control Technol, Qingdao 266071, Peoples R China

来源：

IEEE ACCESS | 2021年 / 9卷

基金：

中国博士后科学基金; 中国国家自然科学基金;

关键词：

Impedance; Robots; Manipulator dynamics; Fuzzy logic; Force; Backstepping; Aerospace electronics; Physical human-robot interaction (pHRI); adaptive fuzzy control; impedance control; finite-time control; command filtered control; DYNAMIC SURFACE CONTROL; NONLINEAR-SYSTEMS; MODEL;

D O I：

10.1109/ACCESS.2021.3069152

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 order to improve the security and compliance of physical human-robot interaction (pHRI), an adaptive fuzzy impedance control for robotic manipulators based on finite-time command filtered method is proposed in this paper. Firstly, robots usually encounter system uncertainties in practical applications, and the adaptive fuzzy control is introduced to approximate the system uncertainties. Secondly, the finite-time control method is used to improve the interaction performance of the system. Then, the command filtered control technique is used to deal with the "computational complexity " of traditional backstepping. Finally, simulations are conducted to illustrate the effectiveness of the proposed control method in physical human-robot interaction.

引用

页码：50917 / 50925

页数：9

共 40 条

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