Bounded Tracking Control of Ammunition Transfer Manipulators with Chassis Oscillation

Dynamics of ammunition transfer manipulators is strongly affected by nonlinear forces due to the oscillation of the chassis, resulting in poor positioning accuracy of the ammunition. Traditional PID controller ignores the uncertain disturbance caused by the chassis vibration, and shows the problems of high control gains and actuator saturation. In this paper, a new tracking control approach was proposed based on the computed torque method and an implicit Lyapunov based control. Being differentiable functions of error variables of the system, the controller's gains can increase and tend to zero as the actual trajectory approximating to the desired trajectory, but the control force can always satisfy the given constrain.The dynamic equation of the system was solved with Newton's method and Runge-Kutta method. Results demonstrate that the controller greatly compensates the effects of the chassis oscillation, can fulfill the accurate tracking control of the ammunition transfer manipulator, and show good robustness.