Trajectory tracking control based on memory data for robots with imprecise dynamic properties and interference

In this article, a new controller design method is proposed for the trajectory tracking problem of robots with imprecise dynamic properties and interference. By using the tracking error memory data of state variables to construct control law, the tracking errors caused by the system interference and inaccurate system modeling can be eliminated, and interference compensation can be realized, so that the system has the desired dynamic performance. The proposed method comes from the tracking control design of an affine nonlinear system. The controller is based on the error function of the control input in the ideal state and the actual state. According to the Lyapunov stability principle, it is proved that the proposed controller has good robustness under the conditions of bounded interference and inaccurate modeling. MATLAB was used to establish the controller and dynamic equation of the two-joint planar robot for trajectory tracking simulation. Simulation results are presented to illustrate the performance of the proposed controller.

Automated summary

This article proposes a new controller design method for the trajectory tracking problem of robots with imprecise dynamic properties and interference. By utilizing the tracking error memory data of state variables to construct control law, the proposed method eliminates tracking errors caused by system interference and inaccurate system modeling, and achieves interference compensation, resulting in the desired dynamic performance of the system.