Resonant-Equivalent-Input-Disturbance-Based Motion Control for Cable-Drive Continuum Robot

Continuum robots face significant control challenges due to model uncertainties, external load disturbances, and physiological periodic disturbances. This paper presents a novel REID-based control strategy designed to address these issues. The approach utilizes feedback linearization to transform the nonlinear dynamic model into a linear equivalent. Furthermore, the proposed REID method offers enhanced performance in handling periodic disturbances compared to classical EID. A state-observed feedback PD controller is implemented to achieve precise dynamic tracking. Simulation results demonstrate that the proposed control strategy significantly outperforms both classical PID and EID-based controllers, showcasing its effectiveness in overcoming the inherent complexities of continuum robot control.