Model-free adaptive control of cable-driven continuum manipulator

被引：0
|
作者：
Zheng X. [1 ]
Ding M. [1 ]
Wu H. [2 ]
Guo Y. [1 ]
机构：
[1] School of Automation, Nanjing University of Science and Technology, Nanjing
[2] Shanghai Aerospace Control Technology Institute, Shanghai
来源：
Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) | 2023年 / 51卷 / 02期
关键词：
cable-driven; compact form dynamic linearization; continuum manipulator; model-free adaptive control; three-dimensional space;
D O I：
10.13245/j.hust.230212
中图分类号：
学科分类号：
摘要：
To solve the problem of modeling and control of continuum manipulators，a three-dimensional position control scheme of cable driven continuum manipulator based on model-free adaptive control was proposed．According to the length configuration of the driven cable and the position of the manipulator，the complex nonlinear model was equivalent to an incremental dynamic linear time-varying model by using the compact form dynamic linearization method．On this basis，the pseudo-Jacobian matrix estimation and reset algorithm and model-free adaptive control algorithm were designed．Those algorithms do not depend on the mathematical model and have adaptive controller parameters．The ADAMS virtual prototype of the continuum manipulator was established and was simulated with Matlab，which verified the effectiveness of the proposed method. © 2023 Huazhong University of Science and Technology. All rights reserved.
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页码：116 / 121
页数：5
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