Robot Trajectory Tracking Based on Adaptive ST Algorithm
To achieve more precise robot trajectory tracking control and improve the system's anti-interfer-ence ability,a robot trajectory tracking method based on adaptive search and tracking algorithms is proposed.Firstly,the robot model and tracking trajectory are established,and then an adaptive ST algorithm that supports real-time dynamic parameter adjustment is adopted.In the experiment,three different control methods are able to achieve the desired position and posture of the underwater robot.Among them,the instruction filtering control method show a faster average convergence time of only 1.3 seconds.The results indicate that the proposed meth-od can achieve shorter adjustment time,reduce trajectory tracking errors,while maintaining stability and anti-in-terference performance.
dynamic positioningtrajectory trackingadaptive ST algorithmrobotsextended state observ-er
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