Abstract
Aiming at the influence of the underwater complex working environment on the control performance of the manipulator, and the traditional manipulator control method is not effective, a new method based on HJI (Hamilton-Jacobi Inequality) theory and RBF (radial basis function) neural network is proposed. The intelligent controller to realize the stable control of the underwater manipulator. Considering the influence of various additional forces on the manipulator in the underwater environment, the Lagrange method is used to establish the dynamic model of the underwater manipulator. Then the robust conditions of HJI differential inequality are used to ensure the stability of the control system, and the stability of the underwater manipulator system is verified by the Lyapunov stability theory. Finally, MATLAB/Simulink is used to simulate the control of the manipulator. The simulation results verify the effectiveness of the method and can realize the stable control of the underwater manipulator system.
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