Hybrid control of force feedback and position feedback for bilateral teleoperation of underwater manipulator

Aiming at the problems of external disturbance such as underwater ocean current and joint friction of master-slave manipulator in underwater teleoperation system, the bilateral control algorithm of master-slave manipulator was optimized under the hybrid control structure of force feedback and position feedback. In order to track the interaction force between the master manipulator and the slave manipulator, the grey predictive fuzzy control with error compensation is used to adjust the force feedback error, and it is mixed with the traditional PID control to achieve better control effect. In order to track the position of the master for the slave manipulator, a fuzzy adaptive system that based on the traditional sliding mode control, is used to adjust the switching gain. Estimate the upper bound of the external interference, and a robust term is designed to suppress the error estimation. The stability and convergence of the optimized system are proved by Lyapunov stability theory. Comparative simulation experiments on MATLAB/Simulink platform were carried out to verify the effectiveness of the optimization algorithm.