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Research on Force Control of Human-Machine Interaction Based on Game Theory and PID Control

Fangxing Li  Xing Du  Jian Li  Zhen Li  Liwei Shao  
【摘要】:This paper proposes a framework to control the contact force in human-machine interaction based on game theory and PID control.The force control model of human-machine interaction is established at first,and the game theory is then applied in force control of the derived model.The force control strategy is accordingly obtained by solving the Nash equilibrium in the game based on the force and velocity.A hybrid control strategy based on game theory and PID control is proposed.Which is further used to perform the human-machine interaction in the process of muscle tension.The feasibility and performance of the proposed control design is verified by simulation and experiment results.

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