Backstepping Control of Flexible Manipulator for Printed Cloth Take and Release Based on Immersion and Invariance Adaptive

Aiming at improving the system stability and tracking accuracy affected by the nonlinearity and uncertainty of flexible manipulator in the process of printed cloth take and release, a backstepping control method based on immersion and invariance (I&I) adaptive is proposed. Firstly, a flexible manipulator model with unknown joint moment of inertia is established in the form of forth-order nonlinear differential equations. Then the I&I adaptive and backstepping method are combined to design the system control law and parameter estimation law. The proposed method can avoid over-parameterization and calculation explosion compared with traditional adaptive backstepping algorithm. Finally, the advantages of the proposed method in joint position tracking accuracy and parameter estimation performance are verified by simulation with Matlab.