Adaptive Fuzzy Finite-Time Command Filtered Impedance Control for Robotic Manipulators

摘要

In order to improve the security and compliance of physical human-robot interaction (pHRI), an adaptive fuzzy impedance control for robotic manipulators based on finite-time command filtered method is proposed in this paper. Firstly, robots usually encounter system uncertainties in practical applications, and the adaptive fuzzy control is introduced to approximate the system uncertainties. Secondly, the finite-time control method is used to improve the interaction performance of the system. Then, the command filtered control technique is used to deal with the “computational complexity ” of traditional backstepping. Finally, simulations are conducted to illustrate the effectiveness of the proposed control method in physical human-robot interaction.