A valve-controlled asymmetrical cylinder model was established to study the gripping hydraulic drive system of the grip device of heavy manipulator. Due to the strong nonlinear characteristics and uncertain parameters of the model, the Lyapunov stability principle was used to design a multistage inversion adaptive controller based on backstepping method and by introducing the virtual control parameter. The simulation results reveal that the tracking control and adaptive of uncertain parameters are very effective, which confirm that the designed controller can guarantee the stability of the closed-loop clamping hydraulic drive system.

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