TY - GEN
T1 - Fractional-order Impedance Control Method with Enhanced Force Tracking
AU - Yang, Tong
AU - Liu, Zhengxiong
AU - Wu, Xi
AU - Ma, Zhiqiang
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/11/6
Y1 - 2020/11/6
N2 - This paper proposes an impedance construct for environmental contact of manipulator-based mechanism with synthesizing fractional calculus, which is different from the conventional impedance control for the fractional-order characteristics of closed-loop system involving position and force are considered. Using the previous information to update system coefficients constantly, the control algorithm has strong robustness, the stability of which is proved theoretically, and the influence of the fractional order to the force tracking performance is analyzed. The actual force can well track the desired force when the environmental stiffness is time-varying. Compared with the existing controller, the proposed method performs faster response, lower overshoot and no oscillation, which has been verified in the numerical simulation.
AB - This paper proposes an impedance construct for environmental contact of manipulator-based mechanism with synthesizing fractional calculus, which is different from the conventional impedance control for the fractional-order characteristics of closed-loop system involving position and force are considered. Using the previous information to update system coefficients constantly, the control algorithm has strong robustness, the stability of which is proved theoretically, and the influence of the fractional order to the force tracking performance is analyzed. The actual force can well track the desired force when the environmental stiffness is time-varying. Compared with the existing controller, the proposed method performs faster response, lower overshoot and no oscillation, which has been verified in the numerical simulation.
KW - force tracking
KW - Fractional-order systems
KW - impedance control
UR - http://www.scopus.com/inward/record.url?scp=85100932222&partnerID=8YFLogxK
U2 - 10.1109/CAC51589.2020.9327795
DO - 10.1109/CAC51589.2020.9327795
M3 - 会议稿件
AN - SCOPUS:85100932222
T3 - Proceedings - 2020 Chinese Automation Congress, CAC 2020
SP - 5985
EP - 5989
BT - Proceedings - 2020 Chinese Automation Congress, CAC 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 Chinese Automation Congress, CAC 2020
Y2 - 6 November 2020 through 8 November 2020
ER -