The adaptive robust tracking control of deep-sea hydraulic manipulator based on backstepping design

In this paper, design and experiments of the 4500m deep-sea manipulator are introduced. With the extreme working condition, the deep-sea manipulator is more complex and the study is more challenging. The design highlight is stressed, including the double screw pairs elbow joint which could transmit large torque with a compact size, principle of pressure compensator which could balance the water pressure and so on. To achieve high tracking performance, the adaptive robust tracking control based on backstepping algorithm is proposed. The unknown parameters are estimated to enhance the tracking precision. Simulations and experiments based on this algorithm has been performed to verify the controller, the results show that the joint tracking control is fast and smooth, the overshot is small.