中文摘要：

针对传统PID控制器未能考虑车体振动带来的不确定性外部摄动的影响,且存在控制性能依赖高控制输入、驱动容易饱和的缺点,基于计算力矩法与一种基于隐式Lyapunov函数的控制律,提出一种新的弹药传输机械臂轨迹跟踪控制方法.控制器的增益是系统误差变量的可微函数,随着实际轨迹逐渐趋向于期望轨迹,该增益逐渐趋向于无穷大,但是控制输入始终满足给定的约束.数值求解系统的动力学方程中采用牛顿迭代法与龙格库塔法交叉迭代.结果显示,所设计的控制器可以有效抑制车体振动的影响,实现了弹药传输机械臂的渐进轨迹跟踪控制,具有良好的鲁棒性.

英文摘要：

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.