Fractional-order Impedance Control Method with Enhanced Force Tracking

Tong Yang, Zhengxiong Liu, Xi Wu, Zhiqiang Ma

科研成果: 书/报告/会议事项章节会议稿件同行评审

1 引用 (Scopus)

摘要

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.

源语言英语
主期刊名Proceedings - 2020 Chinese Automation Congress, CAC 2020
出版商Institute of Electrical and Electronics Engineers Inc.
5985-5989
页数5
ISBN(电子版)9781728176871
DOI
出版状态已出版 - 6 11月 2020
活动2020 Chinese Automation Congress, CAC 2020 - Shanghai, 中国
期限: 6 11月 20208 11月 2020

出版系列

姓名Proceedings - 2020 Chinese Automation Congress, CAC 2020

会议

会议2020 Chinese Automation Congress, CAC 2020
国家/地区中国
Shanghai
时期6/11/208/11/20

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