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[CN 202110648342.4] Nonlinear Control Method of Underwater Multi-joint Hydraulic Manipulator Based on Adaptive Robust
[CN 202110648342.4] Nonlinear Control Method for Underwater Multi-joint Hydraulic Manipulator Based on Adaptive Robust Title: Nonlinear Control Method for Underwater Multi-joint Hydraulic Manipulator Based on Adaptive Robust Application Number: CN 202110648342.4 Applicant: Zhejiang University Application Date: 2021-6-10 Patent Type: Application for the Invention The present invention discloses a nonlinear control method for underwater multi-joint hydraulic Manipulator based on adaptive robust. The method includes: establishing the system nonlinear dynamics model of the underwater multi-joint hydraulic manipulator; establishing the adaptive robust control law of the underwater multi-joint hydraulic manipulator to form the adaptive robust controller of the underwater multi-joint hydraulic manipulator; feeding back the tracking error value obtained by sensor measurement to the adaptive robust controller in real time, the adaptive robust controller realizes the adaptive iterative update of its own parameters, and the adaptive robust controller controls the underwater multi-joint hydraulic manipulator in real time, A complete closed-loop control system of underwater multi-joint hydraulic manipulator is formed, and the effective control of underwater multi-joint hydraulic manipulator by adaptive robust controller is realized. The invention reduces the tracking error of the end of the robot arm and improves the control performance, can overcome the influence of model uncertainty in the control process, and improve the control accuracy of the end of the underwater multi-joint hydraulic robot arm.
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