Dynamic surface control algorithm of flexible manipulator driven by position and velocity disturbance factors

Area of Science:

• Robotics and Control Systems
• Mechanical Engineering

Background:

• Classic adaptive control for flexible manipulators exhibits limitations in achieving precise convergence for link angular position and rotor angular velocity parameters.
• Existing methods struggle to optimize the dynamic surface control, impacting overall manipulator accuracy and stability.

Purpose of the Study:

• To introduce a novel dynamic surface control algorithm for flexible manipulators that addresses the convergence accuracy limitations of traditional methods.
• To enhance the stability and precision of flexible manipulators through optimized control strategies.

Main Methods:

• Development of a new dynamic surface control algorithm incorporating position and velocity perturbation factors.
• Design of specific linear, offset, and functional factors to optimize the virtual control law.
• Comparative analysis against classic adaptive control algorithms for flexible manipulators.

Main Results:

• Significant improvement in the convergence accuracy of link angular position parameters from 84% to 98%.
• Substantial enhancement in the convergence accuracy of rotor angular velocity parameters from 90% to 98%.
• Demonstrated increase in the overall stability of the flexible manipulator system.

Conclusions:

• The proposed dynamic surface control algorithm effectively overcomes the convergence accuracy issues in flexible manipulators.
• The optimized control strategy leads to superior performance in both position and velocity parameter convergence.
• This advancement offers a more stable and accurate solution for controlling flexible manipulator systems.