Trajectory tracking control of multi-degree-of-freedom electro-hydrostatic driving manipulator
Compared with electric manipulator,hydraulic manipulator has irreplaceable advantages in the field of heavy load handling.However,the characteristics of strong coupling,intrinsic nonlinearity and model uncertainties bring challenges to high-precision trajectory tracking control of multi-degree-of-freedom hydraulic manipulator.A control strategy for trajectory tracking for multi-degree-of-freedom electro-hydrostatic driving manipulator is proposed in the paper.Firstly,the dynamic model of the multi-degree-of-freedom manipulator with electro-hydrostatic actuator dynamic is established.Secondly,the controller is proposed based on the backstepping,and the stability is proved via Lyapunov analysis.Finally,the 3-DOF electro-hydrostatic driving manipulator is chosen as the application case.The co-simulation model based on AMESim-Simulink is built,and three controllers are selected to compare the trajectory tracking accuracy of each joint of the manipulator.The verification results under two desired trajectories show that compared with C3 controller and C2 controller.The proposed controller can compensate the dynamic of the manipulator well,enable the joints of the manipulator to better track the desired trajectory.This research can provide reference for the design of control strategy for multi-degree-of-freedom electro-hydrostatic driving manipulator.
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