Adaptive force control for time-varying parameter systems in film peeling

This paper proposes an adaptive force-tracking controller for nonlinear systems with time-varying parameters, based on the practical task of peeling a film from the surface of a rigid body. The precise regulation of the peeling force by a force controller during robotic film peeling is critical for enhancing the safety and stability of the operation. Existing adaptive controllers for systems with time-varying parameters either result in large tracking errors or can only achieve closed-loop system stability, failing to track the desired force. The proposed controller employs the congelation of variables and robust adaptive control. The stability of the closed-loop system demonstrated via the corresponding Lyapunov function. Subsequent simulation results show that the tracking error of the closed-loop system with the proposed controller asymptotically converges to zero, validating the theoretical approach. Finally, experiments not only confirm the feasibility and stability of the proposed controller but also successfully demonstrate its potential for application in robotics.