In this paper, the adaptive robust control method with a velocity observer is proposed to control a deep-sea manipulator. The parametric uncertainties and external disturbances make the linear controller invalid, and hydraulic actuator’s dynamics can’t be neglected because hydraulic system’s complex nonlinearity might lead to vibration. To solve the problem, an adaptive robust controller which can also compensate the interactive dynamic effects between manipulator links is developed. The deep-sea manipulators are only installed with angular sensors, so an observer providing the smooth angular velocity estimation is designed. By using the Lyapunov approach, the proposed controller can be proved asymptotically stable for trajectory tracking. The contrast experiments are conducted on a deep-sea hydraulic manipulator, experiment results show the control algorithm could provide a fast, high accuracy tracking, and guarantee the tracking performance when subjected to payload change or a range of different reference signals.
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ASME/BATH 2015 Symposium on Fluid Power and Motion Control
October 12–14, 2015
Chicago, Illinois, USA
Conference Sponsors:
- Fluid Power Systems and Technology Division
ISBN:
978-0-7918-5723-6
PROCEEDINGS PAPER
The Adaptive Robust Control of Deep-Sea Hydraulic Manipulator With Velocity Observer Available to Purchase
Xiaoxu Cao,
Xiaoxu Cao
Zhejiang University, Hangzhou, Zhejiang, China
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Gaosheng Luo,
Gaosheng Luo
Zhejiang University, Hangzhou, Zhejiang, China
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Linyi Gu,
Linyi Gu
Zhejiang University, Hangzhou, Zhejiang, China
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Yaoyao Wang,
Yaoyao Wang
Zhejiang University, Hangzhou, Zhejiang, China
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Yihong Xu
Yihong Xu
Zhejiang University, Hangzhou, Zhejiang, China
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Xiaoxu Cao
Zhejiang University, Hangzhou, Zhejiang, China
Gaosheng Luo
Zhejiang University, Hangzhou, Zhejiang, China
Linyi Gu
Zhejiang University, Hangzhou, Zhejiang, China
Yaoyao Wang
Zhejiang University, Hangzhou, Zhejiang, China
Yihong Xu
Zhejiang University, Hangzhou, Zhejiang, China
Paper No:
FPMC2015-9560, V001T01A031; 8 pages
Published Online:
January 11, 2016
Citation
Cao, X, Luo, G, Gu, L, Wang, Y, & Xu, Y. "The Adaptive Robust Control of Deep-Sea Hydraulic Manipulator With Velocity Observer." Proceedings of the ASME/BATH 2015 Symposium on Fluid Power and Motion Control. ASME/BATH 2015 Symposium on Fluid Power and Motion Control. Chicago, Illinois, USA. October 12–14, 2015. V001T01A031. ASME. https://doi.org/10.1115/FPMC2015-9560
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