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

作　　者：Shou-Cheng Nie Lin-Fang Qian Long-Miao Chen Ling-Fei Tian Quan Zou 

机构地区：[1]School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing,China

出　　处：《Defence Technology（防务技术）》2021年第3期836-845,共10页Defence Technology

基　　金：the National Natural Science Foundation of China, China;Grant ID: 11472137。

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 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.

关 键 词：Ammunition manipulator Electro-hydraulic system Error constraints Tracking control 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] TJ303.3[自动化与计算机技术—控制科学与工程]