Robust Adaptive Control Based on Fuzzy Compensation for Ammunition Auto-loading Manipulator

摘要

Aimed at the problems of low control accuracy and weak robustness influenced by external disturbance, friction, load changes, modeling errors and other issues in ammunition auto-loading manipulator control system, a new robust adaptive controller based on fuzzy compensation is proposed. The control architecture employs fuzzy systems to compensate adaptively for plant uncertainties to distinguish different disturbance compensation terms and approximate each of them respectively. As a result, the control system has great dynamic features and robust stability and meet the requirement that the actual motion of ammunition auto-loading manipulator quickly tracks the scheduled trajectory.