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[CN 202110646833.5] Nonlinear robust control method for underwater hydraulic manipulator based on extended observer
[CN 202110646833.5] Nonlinear Robust Control Method for Underwater Hydraulic Manipulator Based on Expanded Observer Title: Nonlinear Robust Control Method for Underwater Hydraulic Manipulator Based on Expanded Observer Application Number: CN 202110646833.5 Applicant: Zhejiang University Application Date: 2021-6-10 Patent Type: Application for Invention The invention discloses a nonlinear robust control method for underwater hydraulic manipulator based on extended observer. The method includes: establishing the system nonlinear dynamic model of the underwater hydraulic manipulator; establishing the nonlinear robust control law of the underwater hydraulic manipulator and obtaining the nonlinear robust controller of the underwater hydraulic manipulator; establishing the expansion observer of the underwater hydraulic manipulator and obtaining the angular velocity observation value and the unmeasurable time-varying disturbance observation value of the underwater hydraulic manipulator; the angular velocity observation value, the unmeasurable time-varying disturbance observation value and the tracking error value measured by the sensor are fed back to the nonlinear robust controller in real time. The nonlinear robust controller controls the underwater hydraulic manipulator to form a complete closed-loop control system of the underwater hydraulic manipulator, and realizes the effective control of the underwater hydraulic manipulator by the nonlinear robust controller without the angular velocity sensor. The invention solves the problem that the control accuracy of the existing control method is not high for the underwater hydraulic manipulator.
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