MIMO Model Free Adaptive Control of Two Degree of Freedom Manipulator

Aimed at plane nonlinear two-degree-of-freedom (2-dof) manipulator, which is a nonlinear multi-input and multi-output(MIMO) system, its joint angles are controlled by model-free adaptive control (MFAC) theory to realize trajectory tracking. The nonlinear system model is replaced by the compact form dynamic linearization time-varying model, and the pseudo-Jacobian matrix of the system is estimated on the basis of the input and output data of the manipulator model. The simulation results show that the compact form dynamic linearized model-free adaptive control (CFDL-MFAC) algorithm can effectively ensure the tracking performance of the system output, and the error remains within a certain range.