Robust Adapive Control In Hydraulic Serve Parallel Robot

The large-scale 6-DOF hydraulic serve parallel robot developed by Yanshan University is studied in this paper. First, the structure, prospect and development of control theory of 6-DOF parallel manipulator are introduced, then the dynamic mathematical model for the hydraulic serve robot is deduced. Based on this model, two type of controller are designed, which are variable structure robust adaptive controller and robust adaptive controller. Finally, a robust controller based on state observer is designed.The variable structure robust adaptive controller designed in this paper can effectively eliminate the effects that the varying parameters and the external disturbance affect on the system, and guarantee the global asymptotic stability and good dynamic tracking performance. But variable structure control itself has chattering which has certain negative influence to robot manipulator, so the second controller is then designed. robust adaptive controller combine the advantage of control and adaptive control, the closed-loop system has the adaptability for the varying parameters and can attenuated the unknown disturbance and guarantee global asymptotic stability. Finally, considering that it is difficult to measure the state for robot manipulator, an observer is designed to form the state of hydraulic serve robot. Based on control theory, a robust controller with state observer is designed. In this paper, simulations are given for all the controller, theory analysis and the simulation results proved the validity of the controllers designed in this paper.