Trajectory tracking control of a two degree of freedom flexible robotic arm based on IMFAPC
An improved Model Free Adaptive Predictive Control(IMFAPC)method is proposed to address the issues of large trajectory tracking errors and susceptibility to chattering in a two degree of freedom flexible robotic arm.Firstly,a limitation on the rate of error change was add-ed to the control law,and the difference in the rate of error change was also limited.Secondly,an estimation and prediction algorithm for time-varying parameters is designed,and I/O data in-formation is introduced to predict future system control inputs,effectively solving the problem of oscillation and divergence in the second-order integration link of a two degree of freedom flexible robotic arm system.Finally,the effectiveness of the improved algorithm proposed in this study was verified through simulation and physical platform experiments.
Two degree of freedom flexible robotic armTrack trackingIMFAPCAnti vibra-tion
NETL
NSTL
万方数据
