Non-linear Control Strategies for Robot-Environment Interaction Simulation in Complex Environments

Fenglin Hu

doi:10.47297/taposatWSP2633-456913.20250609

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Non-linear Control Strategies for Robot-Environment Interaction Simulation in Complex Environments

6卷第9期

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Non-linear Control Strategies for Robot-Environment Interaction Simulation in Complex Environments
Non-linear Control Strategies for Robot-Environment Interaction Simulation in Complex Environments
Institute of Problem Solving, Xi'an Jiaotong-Liverpool University, Suzhou, Jiangsu, 215000, China
2025年6卷第9期页码：66-70
纸质出版：2025-09-30
DOI：10.47297/taposatWSP2633-456913.20250609
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Fenglin Hu. (2025). Non-linear Control Strategies for Robot-Environment Interaction Simulation in Complex Environments. 科技理论与实践（英文版）, 6(9), 66-70.

Hu Fenglin.Non-linear Control Strategies for Robot-Environment Interaction Simulation in Complex Environments[J].Theory and Practice of Science and Technology,2025,06(09):66-70.
Fenglin Hu. (2025). Non-linear Control Strategies for Robot-Environment Interaction Simulation in Complex Environments. 科技理论与实践（英文版）, 6(9), 66-70. DOI： 10.47297/taposatWSP2633-456913.20250609.

Hu Fenglin.Non-linear Control Strategies for Robot-Environment Interaction Simulation in Complex Environments[J].Theory and Practice of Science and Technology,2025,06(09):66-70. DOI： 10.47297/taposatWSP2633-456913.20250609.

摘要

Abstract

This paper presents a scheme for the design and verification of a nonlinear control strategy based on Lyapunov theory

aiming to enhance the robot's interaction ability in the environment by comparing linear and nonlinear systems. The proposed scheme focuses on improving the stability and adaptability of the robot control system

while optimizing sensor data processing to achieve real-time perception and task tracking. Simulation experiments were conducted in the ROS + Gazebo environment

and various scenarios were evaluated. Comparative experiments show that the proposed nonlinear control strategy is expected to outperform the traditional PID controller in terms of tracking accuracy

response delay

and task completion rate

demonstrating its potential for practical deployment in industrial and logistics applications.

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references

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