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<p>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, <InlineEquation ID="IEq1"> <InlineMediaObject> <ImageObject Color="BlackWhite" FileRef="41598_2025_19011_Article_IEq1.gif" Format="GIF" Height="14" Rendition="HTML" Resolution="72" Type="Linedraw" Width="27" /> </InlineMediaObject> <EquationSource Format="TEX">\(\vartheta \varpi\)</EquationSource> </InlineEquation>, an offset factor, <InlineEquation ID="IEq2"> <InlineMediaObject> <ImageObject Color="BlackWhite" FileRef="41598_2025_19011_Article_IEq2.gif" Format="GIF" Height="16" Rendition="HTML" Resolution="72" Type="Linedraw" Width="18" /> </InlineMediaObject> <EquationSource Format="TEX">\(\mathbb{C}_l\)</EquationSource> </InlineEquation>, and two functional factors, <InlineEquation ID="IEq3"> <InlineMediaObject> <ImageObject Color="BlackWhite" FileRef="41598_2025_19011_Article_IEq3.gif" Format="GIF" Height="22" Rendition="HTML" Resolution="72" Type="Linedraw" Width="107" /> </InlineMediaObject> <EquationSource Format="TEX">\(\sqrt{\ln (\wp )}, e^{\mathbb {Q} \ln (\mathbb {Q})}\)</EquationSource> </InlineEquation>, 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.</p>

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

  • 期刊论文

  • 出版模式：

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  • 发表日期：

    2025年10月8日

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  • Shixi Tang,
  • Yu Wang,
  • Hongyong Deng,
  • Yaser A. Nanehkaran

摘要

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, \(\vartheta \varpi\) , an offset factor, \(\mathbb{C}_l\) , and two functional factors, \(\sqrt{\ln (\wp )}, e^{\mathbb {Q} \ln (\mathbb {Q})}\) , 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.