| Abstract: | An explicit impact control scheme is modified as the main control scheme, while an intelligent control method is designed to deal with uncertainties and varying environment parameters in a mechatronics approach to anti‐personnel (AP) mine detection. The device imitates the manual hand‐prodding technique for mine detection. It inserts a bayonet into the soil and models the dynamics of the manipulator and environment parameters, such as stiffness variation in the soil, to control the impact caused by making contact with a stiff object. An adaptive neuro‐fuzzy plus PID controller is employed to switch from a conventional PID controller to neuro‐fuzzy impact control (NFIC) when an impact is detected. The developed control schemes are validated through experimental work. |
