A CMAC-Based Control Method for the Underwater Manipulator

Design of the underwater manipulator control system is difficult due to the particularity of the work environment, high nonlinearity and strong coupling of the dynamic model. In order to improve fine performance capacity, a new compound control method based on the cerebellar model articulation controller (CMAC) is proposed, and the compound controller based on CMAC is designed. Simulation experiments have been developed to verify the effectively of the new compound control method, and the results compared with PID control strategy show that the new method based on CMAC has an excellent system performance including high precision trajectory tracking ability, good real-time performance and strong anti-interference. The new compound control method is suitable for the underwater manipulator control system.