Research on an adaptive preset performance control algorithm for multi degree of freedom robotic arms based on model uncertainty

Jingang Zhao; Yinghui Li; Yiwen Li; Binbin Pei; Zisheng Liu; Yang Wei; Xinmin Han

doi:10.1117/12.3052511

19 November 2024 Research on an adaptive preset performance control algorithm for multi degree of freedom robotic arms based on model uncertainty

Jingang Zhao, Yinghui Li, Yiwen Li, Binbin Pei, Zisheng Liu, Yang Wei, Xinmin Han

Author Affiliations +

Proceedings Volume 13397, Fourth International Conference on Green Communication, Network, and Internet of Things (CNIoT 2024); 1339716 (2024) https://doi.org/10.1117/12.3052511
Event: 4th International Conference on Green Communication, Network, and Internet of Things (CNIoT 2024), 2024, Guiyang, China

Abstract

This study provides an algorithm of a self-adaptive preset performance controller is designed for robot trajectory tracking problems with modeling errors and uncertain disturbances, and the stability of the system is proved using Lyapunov stability theorem. This controller can ensure that the tracking hin the preset boundary in the presence of uncertainty and external disturbances in the system, and has the characteristics of fast convergence and small overshoot. The effectiveness and performance of the controller were verified through Matlab simulation.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Jingang Zhao, Yinghui Li, Yiwen Li, Binbin Pei, Zisheng Liu, Yang Wei, and Xinmin Han "Research on an adaptive preset performance control algorithm for multi degree of freedom robotic arms based on model uncertainty", Proc. SPIE 13397, Fourth International Conference on Green Communication, Network, and Internet of Things (CNIoT 2024), 1339716 (19 November 2024); https://doi.org/10.1117/12.3052511

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