Robust stabilizing control for oscillatory base manipulators by implicit Lyapunov method

Oscillatory base manipulator (OBM) is a kind of mechanical system suffering from unexpected oscillations. The oscillations affect tremendously stability. Various control methods have been explored, but most them require measurement or prediction the This study concerned with novel OBM—the autoloader, which used in modern, autonomous main battle tanks. oscillation autoloader hard to be obtained practice. Furthermore, synthesis for autoloaders complicated intrinsic payload uncertainty and actuator saturation. To address these issues, robust scheme proposed this work relying on implicit Lyapunov method. Moreover, two-degree-of-freedom operating vibrating constructed realize control. best authors’ knowledge, first considering both hardware implementation OBM-like autoloaders. Simulation experiment results demonstrate that, although without prior information oscillation, controller exhibits good robustness against uncertainty.