An Anti-Interference Control Algorithm for Continuum Robot Arm

Abstract

The large number of joints in a continuum manipulator complicates its dynamic modeling, making model simplification inevitable for practical motion control. However, due to external disturbances and internal noise, a controller based on the simplified dynamic model often struggles to meet the desired dynamic performance. To address this issue, this paper proposes an anti-interference control algorithm for continuum manipulators, designed to compensate for parameter uncertainties, external disturbances, and measurement noise. At the same time, the parameters of the algorithm are obtained in the form of solvability of linear matrix inequalities (LMIs). The simulation results show that the algorithm proposed in the paper provides better transient performance and is not affected by the entire disturbance. Experimental results further confirm the effectiveness and robustness of the algorithm.

Keywords

• continuum manipulator
• disturbance
• noise
• interference rejection
• linear matrix inequality