Barrier Lyapunov functions-based dynamic surface control with tracking error constraints for ammunition manipulator electro-hydraulic system

• 来源期刊: 防务技术
• 年，卷（期）: 2021,（3）
• 页码范围: 836-845
• 页数: 10页
• 语种: 英文
• DOI: 10.3969/j.issn.2214-9147.2021.03.015

摘要

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 non-linearities and uncertainties considered was established. To simultaneously suppress the violation of tracking error constraints and the complexity of differential explosion, a barrier Lyapunov functions-based 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 experi-mental results.