Active Compliance Control of Autonomous Excavators Based on Fuzzy Adaptive Impedance Control

To address the challenges of position tracking and contact force control during autonomous excavator operations, a fuzzy adaptive impedance control strategy is proposed. The fuzzy logic controller is integrated with a position-based impedance controller, enabling dynamic adaptation of impedance parameters according to operational conditions. A force-limiting protection mechanism is introduced, considering the working characteristics of autonomous excavators. When the bucket-end contact force remains within the normal range, impedance parameters are adjusted in real time through force feedback to achieve precise trajectory tracking. If the contact force exceeds predefined safety thresholds, impedance parameters are dynamically modulated via force error feedback to mitigate overload risks. A semi-physical simulation control model is established using MATLAB/Simulink, incorporating field data from autonomous excavators. Simulation results demonstrate that the proposed fuzzy adaptive impedance control method effectively coordinates position and force control of the bucket end-effector in complex and variable environments.