During the work of mechanical claw,due to the current fluctuations caused by power supply and mechanical vibration,The measured current data is filtered to reduce the fluctuation of the current,so that the accuracy of the force control is higher.Traditional adaptive algorithms cannot meet the requirements of high robustness and small steady-state error while achieving fast convergence.To solve these problems,a new adaptive filtering algorithm is proposed in this paper.Firstly,a variable step size model based on hy-perbolic tangent function is established to realize the dynamic variable value of updating step size factor.Secondly,filter weight vector difference and variable factor are introduced into updating weight iteration al-gorithm to achieve fast convergence and reduce steady-state error.Experiments show that the proposed algo-rithm achieves fast convergence and small steady-state error,which improves the robustness of the system.
维普
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