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

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

Blog Article

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 Zodiac G2 Parts of differential explosion, a barrier Lyapunov functions-based dynamic surface control (BLF-DSC) method OIL 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.