Implicit Lyapunov function-based tracking control of a novel ammunition autoloader with base oscillation and payload uncertainty

Aiming to solve the low positioning accuracy problem of traditional ammunition autoloaders with base oscillation and payload uncertainty, and achieve arbitrary angle loading for the tank gun, this paper presents a trajectory tracking control for a novel ammunition autoloader. The proposed control is composed of computer torque method and an implicit Lyapunov control. The computer torque method is used to linearize and decouple the system dynamics. The implicit Lyapunov control, which could be interpreted as a proportional derivative (PD) control with continuous time-varying gains, is used to stabilize the linearized uncertain system. Simulation results show that the proposed control greatly compensates the effects of the disturbances caused by base oscillation and payload uncertainty, realizing robust trajectory tracking control of the system, but the control forces always satisfy given constraints.