Work

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

Year: 2025

Type: article

Abstract: Classic adaptive control systems for the dynamic surface of flexible manipulators suffer from insufficient convergence accuracy for the manipulator's link angular position parameters and rotor angular velocity parameters. To address this issue, a new dynamic surface control algorithm for flexible manipulators driven by position and velocity perturbation factors is proposed. Specifically, two linear factors, [Formula: see text], an offset factor, [Formula: see text], and two functional factors, [Formula: see text], are designed. By optimizing the virtual control law for dynamic surface control, the convergence accuracy of the position and velocity parameters is effectively improved. Compared with the virtual control law algorithm for classic flexible manipulators, the convergence accuracy of the link angular position parameters is improved from 84% to 98%, and the convergence accuracy of the rotor angular velocity parameters is improved from 90% to 98%, effectively enhancing the manipulator's stability.

Source: Scientific Reports

DOI: 10.1038/s41598-025-19011-9

Authors: Shixi Tang, Yu Wang, Hongyong Deng, Yaser A. Nanehkaran

Institutions: Guizhou Minzu University, Yancheng Teachers University

Language: English

Topic: Dynamics and Control of Mechanical Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $2,690

Funders: Government of Jiangsu Province, Jiangsu Science and Technology Department, Jiangsu Provincial Department of Finance, Jiangsu Agricultural Science and Technology Independent Innovation Fund