Fixed-time terminal sliding mode control for ammunition transfer manipulator

Abstract:

To improve the robustness of position control of tank ammunition transfer manipulator under external disturbance such as road excitation, a fixed-time terminal sliding mode controller (FTSMC) was designed. Firstly, the dynamic model of the ammunition transfer manipulator with basic vibration was established, and the basic vibration of the system was processed into the model uncertain disturbance term. Then a new fixed-time convergence disturbance observer was designed to compensate the uncertainties of the system model and enhance the robustness of the controller, and a fixed-time terminal sliding mode controller was designed based on the fixed-time convergence double power reaching law and the fixed-time non-singular fast terminal sliding mode control surface. Finally, the fixed time convergence stability of closed-loop systems was proved by Lyapunov method. The comparison experimental results under three working conditions show that the designed composite controller is robust to model uncertain disturbance, and the accurate positioning of the ammunition transfer manipulator is realized. The experimental results verify the correctness and effectiveness of the algorithm in practical engineering applications.