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Research on Adaptive Robust Control of Lifting Robotic Arm Based on Backstepping | IEEE Conference Publication | IEEE Xplore

Research on Adaptive Robust Control of Lifting Robotic Arm Based on Backstepping


Abstract:

In the process of industrial production, the lifting robotic arm plays a great role in the handling and loading and unloading of heavy loads, and the previous lifting rob...Show More

Abstract:

In the process of industrial production, the lifting robotic arm plays a great role in the handling and loading and unloading of heavy loads, and the previous lifting robotic arm is mostly operated manually in the process of operation, but there are safety hazards in the harsh environment, so the research on the control of the lifting robotic arm is of concern. In this paper, for the end trajectory tracking problem of the lifting robotic arm, an adaptive robust controller is designed based on the backstepping, which uses adaptive parameter estimation to compensate for the uncertain disturbances existing in the system model, and the robust feedback term to reduce the influence of disturbances and enhance the robustness of the system. Finally, it is proved by simulation experiments that the controller can effectively achieve the end trajectory tracking and better overcome the uncertainty and random interference of the system.
Date of Conference: 16-17 March 2024
Date Added to IEEE Xplore: 21 June 2024
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ISSN Information:

Conference Location: Xiamen, China

References

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