Model-Free Tracking Control of Continuum Manipulators With Global Stability and Assigned Accuracy

Abstract

This article investigates the problem of model-free tracking control for a class of continuum manipulators. A new type of robust control strategy is provided to address the problem, which primarily consists of two parts. First, to achieve output tracking with the desired accuracy, an error transformation scheme is constructed. Moreover, because of the robustness of the error transformation scheme against model uncertainties, no knowledge of the manipulator model is required, leading to a model-free control solution. Then, a tuning function is used to modify certain error variables to relax the requirements on the initial conditions of the error transformation scheme. In this way, the global stability of the closed-loop system can be guaranteed. Finally, both simulation and experimental results validate the expected performance of the presented control method.