Study on Compliant Operation for Underwater Manipulator with Model Reference Adaptive Impedance Control
Year: 2025
Type: article
Abstract: To address challenges posed by model uncertainties due to joint friction and imprecise measurements faced by underwater manipulators during diverse operating missions, this paper proposes a model reference adaptive impedance control method aimed at enhancing robustness and operational stability. First, a desired impedance model based on the errors between the standard force and the operating force was developed. Adaptive laws and a bounded-gain-forgetting adaptive update strategy were formulated based on the operational spatial position and the desired position output from the impedance model, enabling the manipulator's end-effector to precisely track standard force signals. Then, a Lyapunov function was established, proving the global stability and force-position tracking performance of the system. Finally, a two-degree-of-freedom manipulator simulation experiment was conducted on the Matlab/Simulink platform. The results demonstrate that the proposed controller exhibits excellent adaptive performance and robustness, ensuring superior force-position tracking capabilities.
Authors: LI Shasha, XIA Manjiang, ZHANG Jianjun
Language: English
Subfield: Ocean Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W7084314952
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