Nonlinear Robust Control Method of Underwater Hydraulic Manipulator Based on Expansion Observer

Abstract

The invention discloses a nonlinear robust control method of an underwater hydraulic mechanical arm based on an expansion observer. The method includes: establishing a system nonlinear dynamics model of the underwater hydraulic manipulator; establishing a nonlinear robust control law of the underwater hydraulic manipulator to obtain a nonlinear robust controller of the underwater hydraulic manipulator; establishing an underwater hydraulic manipulator The expansion observer of the arm obtains 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 obtained by the sensor measurement are real-time Feedback to the nonlinear robust controller, the nonlinear robust controller controls the underwater hydraulic manipulator, forming a complete closed-loop control system of the underwater hydraulic manipulator, realizing the nonlinear robust controller without angular velocity sensor Efficient control of underwater hydraulic manipulators. The invention solves the problem that the control precision of the underwater hydraulic mechanical arm is not high in the existing control method.

Description

technical field [0001] The invention belongs to a nonlinear control method of a mechanical arm in the field of motion control of an underwater hydraulic mechanical arm, and in particular relates to a nonlinear robust control method of an underwater hydraulic mechanical arm based on an expansion observer. Background technique [0002] With the continuous deepening of ocean development, utilization and research, the complexity of underwater operation tasks is increasing, and its requirements for operation accuracy are also getting higher and higher. A job task is a row plan. As an important component of underwater robots, underwater hydraulic manipulators are necessary equipment to complete complex underwater operations. At present, it has been applied in many aspects such as pipeline tracking, submarine cable burial, marine resource investigation, submarine oil platform detection, underwater salvage and rescue diving and lifesaving. However, the current control method of un...

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Problems solved by technology

At the same time, the model uncertainty (modeling error and parameter uncertainty) and uncertain nonlinearity (mechanical friction, hydraulic oil resistance and wave current) on the control accuracy of the end of the manipulator, so as to further improve the robustness and accuracy of the control system of the underwater hydraulic manipulator, and solve the problem that the control accuracy of the existing control method for the underwater hydraulic manipulator is not high The problem

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