This paper focuses on the dynamic tracking control of ammunition manipulator system. A standard state space model for the ammunition manipulator electro-hydraulic system(AMEHS) with inherent nonlinearities and uncerta...This paper focuses on the dynamic tracking control of ammunition manipulator system. A standard state space model for the ammunition manipulator electro-hydraulic system(AMEHS) with inherent nonlinearities and uncertainties considered was established. To simultaneously suppress the violation of tracking error constraints and the complexity of differential explosion, a barrier Lyapunov functionsbased dynamic surface control(BLF-DSC) method was proposed for the position tracking control of the ammunition manipulator. Theoretical analysis prove the stability of the closed-loop overall system and the tracking error converges to a prescribed neighborhood asymptotically. The effectiveness and dynamic tracking performance of the proposed control strategy is validated via simulation and experimental results.展开更多
基金the National Natural Science Foundation of China, ChinaGrant ID: 11472137。
文摘This paper focuses on the dynamic tracking control of ammunition manipulator system. A standard state space model for the ammunition manipulator electro-hydraulic system(AMEHS) with inherent nonlinearities and uncertainties considered was established. To simultaneously suppress the violation of tracking error constraints and the complexity of differential explosion, a barrier Lyapunov functionsbased dynamic surface control(BLF-DSC) method was proposed for the position tracking control of the ammunition manipulator. Theoretical analysis prove the stability of the closed-loop overall system and the tracking error converges to a prescribed neighborhood asymptotically. The effectiveness and dynamic tracking performance of the proposed control strategy is validated via simulation and experimental results.
