Adaptive Dynamic Programming-Based Cross-Scale Control of a Hydraulic-Driven Flexible Robotic Manipulator

This paper focuses primarily on adaptive dynamic programming (ADP)-based tracking control of the hydraulic-driven flexible robotic manipulator system (HDFRMS) with varying payloads and uncertainties via singular perturbation theory (SPT). Firstly, dynamics is derived using a driven Jacobin matrix, which represents coupling between hydraulic servo-driven rigid–flexible established assumed mode method Lagrange principle. Furthermore, whole model decoupled into second slow subsystem (SSS), fast (SFS) first (FFS). The three subsystems can describe large range movement, vibration electro-hydraulic servo control, respectively. Hereafter, an trajectory law critic-only policy iteration algorithm presented in timescale, while both robust optimal (ROC) timescale sliding (ASMC) are also designed Lyapunov stability theory. Finally, numerical simulations carried out to illustrate rightness robustness decomposition proposed composite algorithm.