Implicit Lyapunov Function-based Variable Gain Super-twisting Sliding Mode Control of an Ammunition Transfer Manipulator
To improve the robustness of positioning control of an ammunition transfer manipulator under the influence of load uncertainties during the ammunition transmission process,a novel variable-gain super-twisting sliding mode control method based on implicit Lyapunov function is proposed.A dynamic model of ammunition transfer manipulator system is established,and then the key parameters of friction torque and balance torque in the equations are identified to further reduce the system uncertainty.A variable-gain super-twisting sliding mode control strategy is designed by utilizing the implicit Lyapunov function,and then the global stability of the closed-loop system is proved by the Lyapunov stability theory.The value of the control gains is determined by the system Lyapunov function,which is a differentiable function of the sliding mode variable.Therefore,the proposed control method has the advantage of easy adjustment of control parameters.The experimental results show that the compensations of friction torque and balance torque can shorten the positioning time from 2.659 s to 1.157 s,which improves the positioning performance of the system.Under different experimental conditions,the proposed control method can effectively suppress the influence of load uncertainties and guarantee the positioning stability of the system.
ammunition transfer manipulatorparameter identificationimplicit Lyapunov functionsuper-twisting sliding mode controlpositioning control
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