Papers Repository of the International Centre for Numerical Methods in Engineering (CIMNE) (2025). 1
Abstract
This research investigates the difficulties associated with transient overshooting, sluggish tracking responses, and inadequate steady-state accuracy that occur during the dynamic interactions between robotic systems and their physical environments. To tackle these challenges, a fractional-order impedance control strategy for robotic systems is proposed. An initial evaluation of existing integer-order impedance control methods indicates that these approaches depend on modifications to the update rate and adjustments to the elasticity parameter to suit various tasks. In light of these constraints, this study presents a more adaptable fractional-order impedance control framework. By utilizing the intrinsic characteristics of fractional-order impedance, the gain coefficients are designed to enable the mapping of fractional-order impedance to integer-order impedance, thereby improving computational efficiency and practical applicability. Additionally, certain beneficial aspects of high integer-order impedance control are incorporated into the fractional-order impedance to enhance overall performance, with clearly defined boundaries for dynamic adjustments. Simulation results indicate that the proposed fractional-order impedance significantly diminishes the peak contact force overshoot during contact and effectively reduces the system's unstable oscillatory behaviours. This approach is particularly advantageous for applications in which robots must function and interact within dynamic and uncertain environments.
Abstract This research investigates the difficulties associated with transient overshooting, sluggish tracking responses, and inadequate steady-state accuracy that occur during the [...]
Hongli Cao's personal collection 
0
0
5/5
Enhancing Robotic Interaction: A Fractional-Order Impedance Control Strategy to Mitigate Overshooting and Improve Tracking in Dynamic Environments 
