Estimation of the External Forces on a Robot Hand with Fingertip Tactile Sensors

This article develops a novel approach for generalized predictive controller (GPC) tuning of multiple-input- multiple-output (MIMO) systems using an improved fuzzy logic and the event-triggered mechanism (ETM). First, the slope of the system output is considered as a new fuzzy target parameter to construct the fuzzy logic algorithm, based on which an improved fuzzy logic based GPC online tuning method is proposed. Second, in order to save the computation and communication resources for the online tuning of GPC parameters, ETM is further introduced to avoid unnecessary updates. Third, given the modified fuzzy algorithm and the aperiodic sampling framework caused by the ETM, the stability property of the closed-loop system under the proposed method is proved theoretically. Finally, the advantages of the developed technique are illustrated via a machine-furnace coordination system.