High Precision Motion Control of Electro-Mechanical Launching Platform with Modeling Uncertainties: A New Integrated Error Constraint Asymptotic Design

Abstract

For the demands of a high precision motion control of an uncertain electro-mechanical launching platform, a novel integrated error constraint asymptotic control in the presence of parametric uncertainties and uncertain disturbance is proposed, of which the barrier function method and a continuous asymptotic control design are integrated for the first time. The former technique can effectively avoid excessive tracking errors at the transient phase, which is caused by the disturbance and the large uncertain system parameters’ deviation between the initial estimated value and the actual value, by selecting a proper barrier threshold, while the latter technique can handle the uncertain disturbance to achieve asymptotic tracking. A rigorous stability analysis is given to illustrate the theoretical performance. In addition, as a supplementary measure, repetitive control is employed to estimate and compensate the possible periodic-like disturbance under certain conditions. Two experimental cases on a prototype of a launching platform demonstrate the effectiveness of the proposed controller.