Adaptive Vibration Reduction Control Strategy for 3-DOF Parallel Energy-Efficient Stabilization Robotic Systems

The parallel energy-efficient stabilization robotic systems are well-suited for large-load vibration reduction and stabilization operations. However, challenges arise, including uncertainties in environmental parameters, nonlinear disturbances in pneumatic structures, and limitations in dynamic vibration reduction performance during vibration control. We propose a reference trajectory compensation approach based on dynamic pneumatic cylinder stiffness compensation and environmental parameter estimation to tackle the tracking force error problem in vibration reduction control. Additionally, dynamic adjustments are made through an adaptive damping parameter adjuster to enhance the dynamic performance of vibration reduction. The results indicate that the proposed vibration reduction control strategy effectively resolves the tracking force problem and achieves superior outcomes compared to the basic impedance control strategy in vibration reduction control.