Research on the Stability Model of Robot Force Control System Based on Adaptive Control

This paper conducts an in-depth analysis of the steady-state issue of the mechanical limb force control system under adaptive control. To enhance the interactive performance of the mechanical limb in a complex background, this paper creates an adaptive control algorithm to enhance the system’s toughness and immediate responsiveness. The algorithm flexibly and dynamically fine-tunes the control parameters according to the fluctuation of the force feedback signal to ensure the stable operation of the system in a non-deterministic environment. Through the mathematical construction of the force control system, its steady-state conditions are analyzed, and the steady-state criterion is constructed with the Lyapunov function to confirm the global asymptotic steady state of the system. Subsequently, a force control system model is constructed on the simulation platform, and the effectiveness and steady-state of the algorithm are verified through multi-environment simulation. The adaptive control algorithm advocated in this paper can achieve steady-state control under multiple working conditions, especially when the force feedback fluctuates violently, the control accuracy is significantly improved, the system response time is shortened to below the threshold of 0.05 seconds, and the relative error is less than 3%. This research result provides an effective solution for the mechanical limb force control system under complex missions.