Servo control method and system for multi-joint hydraulic manipulator based on adaptive sliding mode

A servo control system for a multi-joint hydraulic manipulator based on adaptive sliding mode, comprising:

• a first calculation module;
• a second calculation module;
• a third calculation module;
• and
• an adaptive control module;
• wherein the first calculation module is configured for generating a motion trajectory of an end of the multi-joint hydraulic manipulator in a workspace according to a current position and pose of the multi-joint hydraulic manipulator and a received instruction information, and calculating an expected angular displacement, an expected angular velocity and an expected angular acceleration of individual joints of the multi-joint hydraulic manipulator;
• the second calculation module is configured for obtaining an actual angular displacement of the individual joints and calculating, through a third-order integral chain differentiator, an actual angular velocity of the individual joints under the current position and pose of the multi-joint hydraulic manipulator;
• the third calculation module is configured for calculating a driving force of the individual joints required for control according to the expected angular displacement, the expected angular velocity, the expected angular acceleration, the actual angular displacement and the actual angular velocity in combination with a dynamic model of the multi-joint hydraulic manipulator;
• and
• the adaptive control module is configured for constructing a sliding-mode surface based on the expected angular displacement, the actual angular displacement and the driving force of the individual joints, and updating an adaptive law according to the driving force and a length change rate of a hydraulic cylinder to perform adaptive sliding mode control for the multi-joint hydraulic manipulator.