Development of a Full Ocean Depth Hydraulic Manipulator System

Chen, Yanzhuang; Zhang, Qifeng; Feng, Xisheng; Huo, Liangqing; Tian, Qiyan; Du, Lidong; Bai, Yang; Wang, Wenwen

doi:10.1007/978-3-030-27535-8_24

Cited by 5 publications

(1 citation statement)

References 11 publications

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“…A typical mainframe mechanical structure of deep-sea hydraulic manipulators consists of linear cylinders, a rotary actuator, a cycloid motor, etc. [7], as shown in Figure 1. The linear cylinders are key parts.…”

Section: Introductionmentioning

confidence: 84%

Extended State Observer-Based Fuzzy Adaptive Backstepping Force Control of a Deep-Sea Hydraulic Manipulator with Long Transmission Pipelines

Chen

Zhang

Tian

et al. 2022

JMSE

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The force tracking control of deep-sea hydraulic manipulator systems with long transmission pipelines is disposed via fuzzy adaptive backstepping control based on an extended state observer in this paper. The pipeline model is established and then used to estimate the pressures in cylinder chambers, which are used to obtain the output force. In this process, the velocity of the piston, which is unmeasured, is needed, and an extended state observer is constructed to estimate the unmeasurable velocity signal. To cope with parameter uncertainties caused by changes in working depth, an adaptive algorithm is combined with the backstepping controller. Fuzzy logic is employed to design self-tuners that can automatically adjust the control parameters to guarantee force control performance from shallow seas to deep seas. The experimental results illustrate the success of the proposed control method. Comparative experimental results demonstrate that the extended state observer-based fuzzy adaptive backstepping controller has a relatively better tracking performance in different working conditions.

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Section: Introductionmentioning

confidence: 84%