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Barrier Lyapunov functions-based dynamic surface control with tracking error constraints for ammunition manipulator electro-hydraulic system 被引量:2

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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.
出处 《Defence Technology(防务技术)》 SCIE EI CAS CSCD 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。
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