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PSO based adaptive force controller
Author(s)
Date Issued
January 1, 2013
Type
Conference Paper
Abstract
Force control is widely used in many industrial applications especially in the application that actuator is contacted with environment (contacted object). If environment is changed, the performance of non-adaptive controller may be decreased. The proposed adaptive controller is an online adaptive controller which it does not necessary to identify the plant before controlling because the proposed technique can learn the model from real environment. In addition, bang-bang control is adopted in hybrid fashion to solve the problem of undesired response at learning period which may cause the damage of actuator. The simulation and experimental results show the effectiveness of the proposed technique.
Citation
Lecture Notes in Engineering and Computer Science, 2203, 637-640, 2013