Model Predictive Control of Electro-Hydrostatic Actuator for Underwater Manipulator
Electro-hydrostatic actuator(EHA)has many advantages as the actuator system of underwater hydraulic manipulator.In order to improve the control performance of EHA,the model predictive control(MPC)method based on Kalman filter was adopted.To improve prediction efficiency,the prediction model of MPC adopted a linearized EHA model.MPC control for the underwater manipu-lator EHA was implemented in Simulink simulation environment and it was compared with PID and sliding mode control(SMC).The simulation results show that the steady-state error of MPC is about from 10％to 24％of SMC and from 3％to 37％of PID.After load disturbance,the average disturbance deviation of MPC is only from 31％to 66％of SMC and from 3％to 48％of PID.With the decrease of oil elastic modulus,the disturbed deviation under the three control methods shows an upward trend,but the upward trend of MPC is gentler and the average deviation value is lower.This indicates that the MPC control method has higher position tracking accuracy and stronger robustness.
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