Observer-based Adaptive Fuzzy Force Control for the Pneumatic Polishing System End-actuator with Uncertain Dynamic Contact Model

• Proposes an observer-based fuzzy adaptive control (OBFAC) scheme for pneumatic polishing end-actuators to enhance force control accuracy under uncertain dynamic contact models. • Integrates a fuzzy state observer and fuzzy logic approximation to handle unmeasured states and nonlinearities, improving robustness and control performance. • Utilizes an integral barrier Lyapunov function to guarantee state constraints, ensuring safe and stable operation during polishing. • Experimental validation on a pneumatic polishing platform demonstrates superior tracking performance of OBFAC over existing control schemes, highlighting its practical applicability.