Robust Tracking Control of Manipulator Based on Trajectory Planning

The manipulator is a complex nonlinear system with model uncertainty, which affects its trajectory tracking. In addition, there will be energy loss when the manipulator is working. The above problems are discussed in this paper. At the first step, a DE algorithm based on improved mutation strategy is proposed to optimize the ideal trajectory of each joint of the manipulator, thereby reducing the energy loss during the movement. Then, a robust controller is designed to track the optimized trajectory. Design of control scheme procedure and proof of the stability and convergence are given. The simulation results verify the effectiveness of the improved DE algorithm and the fast convergence of trajectory tracking error.