Abstract
Ammunition autoloaders are widely utilized on main battle tanks to accomplish the tasks of transferring ammunitions from magazines to the gun breech. In practice, movements of autoloaders are significantly influenced by disturbances caused by chassis oscillations. This leads to autoloader–breech interaction and consequent poor control accuracy and low reliability. Compliant actuators, which possess the attractive feature of shock tolerance, are used in new autoloaders. However, this in turn leads to vibrations of structural flexibility, bringing more challenges for the control of autoloaders. To deal with these issues, this paper proposes a novel hybrid control based on singularly perturbed theory. The entire controlled system is decomposed into two subsystems of different timescales. Rigid autoloaders dynamics with oscillatory chassis disturbances is in the slow timescale, whereas compliant actuators dynamics is in the fast timescale. A novel trajectory tracking controller for the slow timescale dynamical subsystem is proposed based on assimilation of both the computed torque method and a feedback control law based on implicit Lyapunov function (implicit Lyapunov control). The tracking controller is theoretically proved to be robust and globally convergent. On the other hand, suppression of the flexible vibrations in the fast timescale dynamics is realized via a proposed derivative-type control law, which is shown to globally stabilize the compliant actuators. As far as we know, this is the first study providing a control strategy to asymptotically regulate the autoloader subject to chassis-induced perturbations and flexible joint vibrations. Finally, numerical simulation results are presented to show efficacy as well as robustness of the proposed control scheme.
Similar content being viewed by others
References
Wierwirth, A.P., Sauerwald, W., Hulsewis, H., et al: Automatic loading device for a gun. U.S. Patent (No. 4838141) (1989)
Guo, Y., Hou, B.: Implicit Lyapunov function-based tracking control of a novel ammunition autoloader with base oscillation and payload uncertainty. Nonlinear Dyn. 87(2), 741–753 (2017)
Rybus, T., Seweryn, K., Sasiadek, J.Z.: Control system for free-floating space manipulator based on nonlinear model predictive control (NMPC). J. Intell. Robot. Syst. 85(3–4), 491–509 (2017)
Zong, L., Luo, J., Wang, M., Yuan, J.: Parameters concurrent learning and reactionless control in post-capture of unknown targets by space manipulators. Nonlinear Dyn. 96(1), 443–447 (2019)
Zhang, J., Li, W., Yu, J., Zhang, Q., Cui, S., Li, Y., Li, S., Chen, G.: Development of a virtual platform for telepresence control of an underwater manipulator mounted on a submersible vehicle. IEEE Trans. Ind. Electron. 64(2), 1716–1727 (2017)
Wang, Y., Wang, S., Wei, Q., Tan, M., Zhou, C., Yu, J.: Development of an underwater manipulator and its free-floating autonomous operation. IEEE-ASME Trans. Mech. 21(2), 815–824 (2016)
Sun, N., Fang, Y., Chen, H., Wu, Y., Lu, B.: Nonlinear antiswing control of offshore cranes with unknown parameters and persistent ship-induced perturbations: theoretical design and hardware experiments. IEEE Trans. Ind. Electron. 65(3), 2629–2641 (2018)
Sun, N., Fang, Y., Chen, H., Fu, Y., Lu, B.: Nonlinear stabilizing control for ship-mounted cranes with ship roll and heave movements: design, analysis, and experiments. IEEE Trans. Syst. Man Cybern. 48(10), 1781–1794 (2018)
Fang, Y., Wang, P., Sun, N., Zhang, Y.: Dynamics analysis and nonlinear control of an offshore boom crane. IEEE Trans. Ind. Electron. 61(1), 414–427 (2014)
Sebastian, K., Mahl, T., Jorg, N., Schneider, K., Swaodny, O.: Active control for an offshore crane using prediction of the vessel’s motion. IEEE/ASME Trans. Mech. 16(2), 297–309 (2011)
Sato, M., Toda, M.: Robust motion control of an oscillatory-base manipulator in a global coordinate system. IEEE Trans. Ind. Electron. 62(2), 1163–1174 (2015)
Wang, C., Wu, P., Zhou, X., Pei, X.: Composite sliding mode control for a free-floating space rigid-flexible coupling manipulator system. Int. J. Adv. Robot. Syst. 10(2), 323–330 (2015)
Tang, W.Y., Wei, L.X., Jian, D.H.: Dynamic compensation control of flexible macrocmicro manipulator systems. IEEE Trans. Control Syst. Technol. 18(1), 143–151 (2010)
Singer, N.C., Seering, W.P.: Preshaping command input to reduce system vibration. J. Dyn. Syst. Meas. Control Trans. ASME 1112(1), 76–82 (1990)
Lai, C.Y.: Decoupling of macro-mini manipulator using adaptive neural networks. In: IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 898–903. IEEE (2014)
Bassan, H., Talebi, H.A., Patel, R.V., Moallem, M.: Control of a rigid manipulator mounted on a compliant base. Robotica 23(2), 197–206 (2005)
Ott, C., Albu-Schaffer, A., Hirzinger, G.: A Cartesian compliance controller for a manipulator mounted on a flexible structure. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4502–4508. IEEE (2006)
Duan, X., Qiu, Y., Mi, J., Zhao, Z.: Motion prediction and supervisory control of the macro/micro parallel manipulator system. Robotica 29(7), 1005–1015 (2011)
Mannani, A., Talebi, H.A.: A fuzzy Lyapunov-based control strategy for a macrocmicro manipulator: experimental results. IEEE Trans. Control Syst. Technol. 15(2), 375–383 (2007)
Lin, J., Huang, Z.Z., Huang, P.H.: An active damping control of robot manipulators with oscillatory bases by singular perturbation approach. J. Sound Vib. 304(1–2), 345–360 (2007)
Lin, J., Huang, Z.Z.: A hierarchical fuzzy approach to supervisory control of robot manipulators with oscillatory bases. Mechatronics 17(10), 589–600 (2007)
Toda, M.: An H\(_\infty \) control-based approach to robust control of mechanical systems with oscillatory bases. IEEE Trans. Robot. Automat. 20(2), 283–296 (2004)
Iwamura, T., Toda, M.: Motion control of an oscillatory-base manipulator using sliding mode control via rotating sliding surface with variable-gain integral control. In: American Control Conference, pp. 5742–5747. IEEE (2013)
Yu, H., Huang, S., Chen, G., Pan, Y., Guo, Z.: Human-robot interaction control of rehabilitation robots with series elastic actuators. IEEE Trans. Robot. 31(5), 1089–1100 (2015)
Li, X., Pan, Y., Chen, G., Yu, H.: Adaptive human-robot interaction control for robots driven by series elastic actuators. IEEE Trans. Robot. 33(1), 169–182 (2017)
Ghorbel, F., Hung, J.Y., Spong, M.W.: Adaptive control of flexible-joint manipulators. Control Syst. Mag. IEEE 9(7), 9–13 (1989)
Singh, J.P., Lochan, K., Kuznetsov, N.V., Roy, B.K.: Coexistence of single- and multi-scroll chaotic orbits in a single-link flexible joint robot manipulator with stable spiral and index-4 spiral repellor types of equilibria. Nonlinear Dyn. 90(2), 1277–1299 (2017)
Pan, Y., Li, X., Wang, H., Yu, H.: Continuous sliding mode control of compliant robot arms: a singularly perturbed approach. Mechatronics 52, 127–134 (2018)
Kim, J., Croft, E.A.: Full-state tracking control for flexible joint robots with singular perturbation techniques. IEEE Trans. Control Syst. Technol. 27(1), 63–73 (2017)
Izadbakhsh, A., Masoumi, M.: FAT-based robust adaptive control of flexible-joint robots: singular perturbation approach. In: 2017 IEEE International Conference on Industrial Technology, pp. 803–808. IEEE (2017)
Makrini, I.E., Rodriguez-Guerrero, C., Lefeber, D., Vanderborght, B.: The variable boundary layer sliding mode control: a safe and performant control for compliant joint manipulators. IEEE Robot. Autom. Lett. 2(1), 187–192 (2017)
Wang, H., Pan, Y., Li, S., Yu, H.: Robust sliding mode control for robots driven by compliant actuators. IEEE Trans. Control Syst. Technol. 27(3), 1063–6536 (2019)
Pan, Y., Wang, H., Li, X., Yu, H.: Adaptive command-filtered backstepping control of robot arms with compliant actuators. IEEE Trans. Control Syst. Technol. 26(3), 1149–1156 (2018)
Izadbakhsh, A.: Robust control design for rigid-link flexible-joint electrically driven robot subjected to constraint: theory and experimental verification. Nonlinear Dyn. 85(2), 751–765 (2016)
Masarati, P.: Computed torque control of redundant manipulators using general-purpose software in real-time. Multibody Syst. Dyn. 32(4), 403–428 (2014)
Chernousko, F.L., Ananievski, I.M., Reshmin, S.A.: Control of Nonlinear Dynamical Systems. Springer, Berlin (2008)
Ananevskii, I.M.: Synthesis of continuous control of a mechanical system with an unknown inertia matrix. J. Comput. Syst. Sci. Int. 45(3), 356–367 (2006)
Ortega, R., Van Der Schaft, A.J., Mareels, I., Maschke, B.: Putting energy back in control. IEEE Control Syst. Mag. 21(2), 18–33 (2001)
Guo, Y., Huynh, V.T., Wang, Z.: Two time scales model based robust tracking control of MBTs autoloaders subject to oscillatory chassis and flexible joint. In: The 1st International Nonlinear Dynamics Conference, pp. 609–610. Springer (2019)
Acknowledgements
This work was supported by Grants from the National Natural Science Foundation of China (No. 51605344) and China Postdoctoral Science Foundation funded project (No. 2016M592398). Previous work of this research had been recognized by NODYCON 2019 (presented as an extended abstract [39]).
Author information
Authors and Affiliations
Corresponding author
Ethics declarations
Conflict of interest
The authors declare that they have no conflict of interest.
Additional information
Publisher's Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Rights and permissions
About this article
Cite this article
Guo, Y., Xi, B., Huynh, V.T. et al. Robust tracking control of MBT autoloaders with oscillatory chassis and compliant actuators. Nonlinear Dyn 99, 2185–2200 (2020). https://doi.org/10.1007/s11071-019-05397-5
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s11071-019-05397-5