Trajectory tracking control method of manipulator based on immersion and invariant adaptation

Abstract

Aimed at the problem of insufficient tracking accuracy caused by the uncertainty of the system model during the motion of a two-joint manipulator, a trajectory tracking control method for the manipulator based on Immersion and Invariance (I&I) adaptive was proposed. The method was used to design a parameter estimator for the mass matrix. In order to solve the problem of difficulty in solving the partial differential equation in the design process of the method, a state filter was introduced to obtain an approximate solution, and the error between the approximate solution and the real solution was eliminated by introducing a dynamic scaling factor. The designed I&I adaptive parameter estimator was combined with a backstepping controller to make the designed controller adaptive to uncertain parameters. Simulation results demonstrate that the method can improve the control accuracy of the manipulator significantly, and it has certain application value.

Keywords

• manipulator
• trajectory tracking
• immersion and invariance
• adaptive control