Stability and sensitivity analyses and multi-objective optimization control of the hydro-turbine generator unit

Oscillatory base manipulator (OBM) is a kind of mechanical system suffering from unexpected base oscillations. The oscillations affect tremendously system stability. Various control methods have been explored, but most of them require measurement or prediction of the oscillations. This study is concerned with a novel OBM—the autoloader, which is used in modern, autonomous main battle tanks. The base oscillation of the autoloader is hard to be obtained in practice. Furthermore, control synthesis for autoloaders is complicated with intrinsic payload uncertainty and actuator saturation. To address these issues, a novel robust control scheme is proposed in this work relying on the implicit Lyapunov method. Moreover, a novel two-degree-of-freedom manipulator operating on a vibrating base is constructed to realize the proposed control. To the best of the authors’ knowledge, this is the first study considering both control and hardware implementation for the OBM-like autoloaders. Simulation and experiment results demonstrate that, although without prior information of the base oscillation, the proposed controller exhibits good robustness against the base oscillation and payload uncertainty.