An adaptive force control based on input classification

Yoshimitsu Umahashi, Yutaka Uchimura, Kouhei Ohnishi

Research output: Contribution to conferencePaperpeer-review


An adaptive force control based on the fuzzy theory is described. In the proposed control method, a fuzzy set is applied to the acceleration controller which is obtained by the disturbance observer. This force controller is robust against the parameter variation of not only the robot dynamics, but also the environment in which the robot acts. The asymptotic stability of the controller is proved by using a Lyapunov function. The condition under which the overshoot of the force response is avoided is derived. The experimental results are shown to verify the validity of the proposed method.

Original languageEnglish
Number of pages4
Publication statusPublished - 1990 Dec 1
Externally publishedYes
EventProceedings of the 29th SICE Annual Conference - Tokyo, Jpn
Duration: 1990 Jul 241990 Jul 26


OtherProceedings of the 29th SICE Annual Conference
CityTokyo, Jpn

ASJC Scopus subject areas

  • Engineering(all)


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