Research On Adaptive Tracking Control Algorithm For Tendon-driven Manipulator

In recent years,with the rapid development of intelligent technology,robot manipulator have also been applied in various industries,and its control technology has also become a hot topic of scientific research in the field of automation.In order to improve the flexibility of the manipulator to grasp objects,this paper adopts a tendon-driven method for a class of nonlinear manipulator systems with multivariable,strong coupling,and many uncertain factors,combining Radial Basis Function(RBF)Neural Network,adaptive technology,fuzzy control,backstepping method,disturbance observer,sliding mode control and Lyapunov stability theory to study the trajectory tracking control of manipulators.The main content of the paper is as follows:(1)Aiming at the problem of unknown dynamic model and tendon tension constraint of tendondriven manipulator,an adaptive neural network tracking control strategy was designed.The position tracking control of the manipulator is realized by the n+1 tendon-driven scheme.The unknown dynamic model is approximated by the RBF neural network,and the adaptive ability of the contact force is improved.The influence of the tendon rope tension constraint is solved by introducing an auxiliary system;(2)Aiming at the problem of parameter uncertainty in tendon-driven manipulators,an adaptive fuzzy backstepping tracking control strategy was designed.The unmodeled information of the tendon-driven manipulator is approximated by the fuzzy system,which effectively solves the problem of parameter uncertainty of the manipulator,and realizes a control without model information;(3)Aiming at the problem of compound disturbance in the tendon-driven manipulator model,an anti-disturbance terminal sliding mode tracking control strategy is designed.The nonlinear disturbance observer(NDO)is used to estimate the composite interference composed of the modeling error in the tendon-driven manipulator model,the friction force generated between tendon paths and external interference;the error convergence speed is improved by the double-power reaching law,adopting non-singular fast terminal sliding mode,which avoids the singular problem in traditional sliding mode control.