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Design of a Fuzzy Fractional Order Adaptive Impedance Controller with Integer Order Approximation for Stable Robotic Contact Force Tracking in Uncertain Environment Cover

Design of a Fuzzy Fractional Order Adaptive Impedance Controller with Integer Order Approximation for Stable Robotic Contact Force Tracking in Uncertain Environment

Acta Mechanica et Automatica
Volume 16 (2022): Issue 1 (March 2022)
By: Hongli Cao  
Open Access
|Feb 2022

Authors

Hongli Cao

caohongli@tyut.edu.cn

Key Laboratory of Advanced Transducers and Intelligent Control System of Ministry of Education, Taiyuan University of Technology, Taiyuan, China
DOI: https://doi.org/10.2478/ama-2022-0003 | Journal eISSN: 2300-5319 | Journal ISSN: 1898-4088
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Language: English
Page range: 16 - 26
Submitted on: Jun 30, 2021
|
Accepted on: Sep 25, 2021
|
Published on: Feb 4, 2022
Published by: Bialystok University of Technology
In partnership with: Paradigm Publishing Services
Publication frequency: 4 issues per year
Keywords:
adaptive impedance control,
contact interactions,
fractional order,
fuzzy logic,
integer order approximation
Related subjects:
Engineering,
Civil engineering,
Environmental engineering,
Electrical engineering,
Electronics,
Mechanical engineering,
Mechanics,
Bioengineering and biomedical engineering,
Biomechanics

© 2022 Hongli Cao, published by Bialystok University of Technology
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

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