A Simple Implementation of an Intelligent Adaptive Control Systems for Human-Robot Interaction

被引：3
作者：
Villafuerte, R. [1 ]
Dominguez, O. A. [1 ]
Gonzalez, O. [2 ]
Hoyos, M. A. [1 ]
机构：
[1] UAEH, Hidalgo, Mexico
[2] Inst Tecnol Super Oriente Estado Hidalgo ITESA, Hidalgo, Mexico
来源：
IEEE LATIN AMERICA TRANSACTIONS | 2016年 / 14卷 / 01期
关键词：
Control nonlinear systems; Fuzzy control systems; Adaptive control systems; Haptic interfaces and devices; FUZZY CONTROL; STABILITY; MODEL;
D O I：
10.1109/TLA.2016.7430057
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 this paper an implementation of a fuzzy adaptive control law to manipulate device of Human-Robot interaction is presented. Mamdani type fuzzy systems are employed to approximate the dynamics of interaction system. An adaptation law is added to controller to compensate for parametric variations and/or uncertainties of the interaction Human-Robot. The theoretical results proposed are illustrated on a PHANToM Premium 1.0 haptic device.
引用
收藏
页码：20 / 31
页数：12
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