engleski

FUZZY RULE-BASED ADAPTIVE FORCE CONTROL OF SINGLE DOF SERVO MECHANISMS

The paper presents position/force control with a completely fuzzified adaptive force control system for the single degree of freedom servo mechanisms. The proposed force control scheme contains an adaptive fuzzy force controller and a subordinated fuzzy velocity controller. By using a second-order reference model, a model reference-based fuzzy adaptation mechanism is able to keep the error between the model and system output responses within desired limits. The results obtained by computer simulations indicate a stable performance of the force control system for a wide range of environment stiffness variations. The proposed adaptive force control method has also been effective in case of a contact with a rough surface or a complex form workpiece.

force/position control; fuzzy logic control algorithms; adaptive control

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