Prescribed Performance Control for Electro-hydraulic Servo System of the Ammunition Manipulator

Abstract

There are stochastic initial disturbances which lead to unexpected tracking errors of the ammunition manipulator during the starting stage. In this paper, a prescribed performance control strategy is proposed for the steady constraint control of the ammunition coordinator. In order to keep the position errors of the ammunition coordinator in the whole tracking control process within the prescribed constraint range, the prescribed performance control theory is adopted to convert the system original error into a new error form that can be restrained through error transformation, and the performance function is designed to constrain the error boundary. The second-order command filter is used to reduce the derivation calculation error of the virtual control variables during the backstepping iteration and the corresponding filtering error compensation algorithm is designed to improve the control accuracy. In addition, adaptive laws are well-designed to compensate the uncertainty of system parameters. The simulation analysis shows that the designed prescribed performance controller obtains good control performance. The convergence and stability of the tracking error of the ammunition manipulator are achieved, and the prescribed performance function prevents the violation of tracking error performance constraints.