Adaptive RBF Control Based on Predefined-Time Stability For Flexible Manipulator

In view of the background that customs use flexible manipulator to perform remote dangerous goods detection operations, this paper proposes an adaptive RBF control method based on the definition of nonlinear robot system and predetermined time stability to meet the requirements of customs robot remote operation tasks. The design of the adaptive RBF controller can compensate for the uncertainties in the robot dynamics, and the adjustable parameters make the design of the control system more flexible, ensuring accurate tracking control in the presence of system model uncertainty and disturbances. The Lyapunov method is used in this research to demonstrate the stability of the control system, and robot tracking control simulation and experimentation are used to confirm the efficacy of the aforementioned approach.