Polishing force control strategy for pneumatic end-effector based on adaptive fuzzy algorithm with state observer

This paper investigates force tracking control for pneumatic polishing end-effector under model uncertainty and unmeasured states. A fuzzy logic system approximates unknown nonlinear characteristics, while a fuzzy state observer estimates unmeasured states. Based on these estimates, an adaptive outp...

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Bibliographic Details
Published in:International journal of advanced manufacturing technology Vol. 141; no. 7-8; pp. 3633 - 3650
Main Authors: Yang, Zhiguo, Zhao, Wenbo, Kou, Jiange, Ma, Yushan, Wang, Yixuan, Li, Zhanxin, Shi, Yan
Format: Journal Article
Language:English
Published: London Springer London 01.12.2025
Springer Nature B.V
Subjects:
Accuracy
Adaptive algorithms
CAE) and Design
Closed loops
Computer-Aided Engineering (CAD
Control algorithms
Controllers
End effectors
Engineering
Estimates
Feedback control
Fuzzy logic
Fuzzy systems
Gas flow
Industrial and Production Engineering
Liapunov functions
Mechanical Engineering
Media Management
Original Article
Output feedback
Pneumatics
Polishing
Proportional integral derivative
State observers
Time varying amplitude
Tracking control
Adaptive fuzzy
Pneumatic end-effector
Force tracking control
ISSN:0268-3768, 1433-3015
Online Access:Get full text
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Summary:This paper investigates force tracking control for pneumatic polishing end-effector under model uncertainty and unmeasured states. A fuzzy logic system approximates unknown nonlinear characteristics, while a fuzzy state observer estimates unmeasured states. Based on these estimates, an adaptive output feedback controller is developed by integrating dynamic surface control with an adaptive backstepping strategy. This approach reduces computational burden and avoids the issue of derivative explosion. A barrier Lyapunov function is introduced to implement output constraints, and finite-time boundedness is proven for all closed-loop signals. Pneumatic polishing force control experiments are conducted under three typical operating conditions—constant force, sinusoidal force, and time-varying amplitude/frequency—validating that the proposed method significantly improves force tracking accuracy, accelerates response speed, and reduces overshoot compared to PID controllers and two state-of-the-art benchmark schemes. This fully demonstrates the effectiveness of the proposed approach.
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ISSN:0268-3768
1433-3015
DOI:10.1007/s00170-025-16695-1