| Citation: | ZHANG Jianjun, LIU Weidong, GAO Li'e, et al. Adaptive bilateral control for underwater manipulator in uncertainty teleoperation[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(9): 1918-1925. doi: 10.13700/j.bh.1001-5965.2017.0753(in Chinese)
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An adaptive bilateral control strategy is proposed for the uncertainty of the mathematical model and external disturbances during the teleoperation of underwater manipulator. A reference adaptive impedance control law based on the nominal model is designed for the uncertainty of the parameters of the master manipulator model and the external disturbance. The reference position of the expected model is adjusted by the deviation between the force of operator and the slave manipulator, and the model uncertainty is compensated by the adaptive control law. Aimed at the uncertainty of slave manipulator, the adaptive compensation is achieved by the radial basis function (RBF) neural network, and the approximation deviation is eliminated by the design of the sliding mode variable structure controller and the robust adaptive controller, which satisfies the position tracking of the slave manipulator to the master manipulator. The tracking performance and global stability are proved by Lyapunov function, and the asymptotic convergence of force-position tracking is guaranteed. The results show that the overall controller has good force-position tracking ability under the conditions of model uncertainty and external disturbance. The whole system is stable and feasible, and has robustness and adaptive control ability.
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