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