Fuzzy-Based Control for Multiple Tasks With Human-Robot Interaction

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dc.contributor.authorYang, Y.
dc.contributor.authorLi, Z.
dc.contributor.authorShi, P.
dc.contributor.authorLi, G.
dc.date.issued2024
dc.description.abstractDriven by the rise of collaborative robots, a lot of work has focused on the transparency and stability of physical human–robot interaction (pHRI), in which most of the efforts do not take the requirement of multiple tasks into account. However, the spectrum of applications for collaborative robots has been continuously broadened, and robots without the ability to perform multiple tasks simultaneously may not be capable of collaborating in certain scenarios. In this article, we provide a fuzzy-based multitask intelligent control framework of collaborative robots for pHRI. Our controller formulation consists of “outer-loop” and “inner-loop.” In the “outer-loop,” a fuzzy logic system predicts human desired motion trajectory for the robot to track. In the “inner-loop,” the robot is driven by a hierarchical multitask controller to track the trajectory generated by the “outer-loop” and perform other subtasks simultaneously. With null space projections, the whole task stack can be implemented in a strict task hierarchy in order of priority. The weight-tuning law of the FLSs and the hierarchical multitask control law are given based on Lyapunov stability analysis. The proposed control framework is applied to a mobile manipulator and the effectiveness is verified by exploratory experiments. Results confirm the effectiveness of the proposed control framework and compare its performance with other approaches.
dc.description.statementofresponsibilityYuwei Yang, Zhijun Li, Peng Shi, and Guoxin Li
dc.identifier.citationIEEE Transactions on Fuzzy Systems, 2024; 32(10):5802-5814
dc.identifier.doi10.1109/TFUZZ.2024.3429207
dc.identifier.issn1063-6706
dc.identifier.issn1941-0034
dc.identifier.orcidShi, P. [0000-0001-6295-0405] [0000-0001-8218-586X] [0000-0002-0864-552X] [0000-0002-1358-2367] [0000-0002-5312-5435]
dc.identifier.urihttps://hdl.handle.net/2440/144021
dc.language.isoen
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)
dc.relation.granthttp://purl.org/au-research/grants/arc/DP240101140
dc.rights© 2024 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
dc.source.urihttp://dx.doi.org/10.1109/tfuzz.2024.3429207
dc.subjectCollaborative robots; fuzzy system control; multitask motion planning and control; physical human–robot interaction (pHRI)
dc.titleFuzzy-Based Control for Multiple Tasks With Human-Robot Interaction
dc.typeJournal article
pubs.publication-statusPublished

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