Robust Stabilizing Control for Oscillatory Base Manipulators by Implicit Lyapunov Method

Oscillatory base manipulators (OBMs) are a kind of mechanical systems 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 are 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. Experimental results demonstrate that, although without prior information of the base oscillation, the proposed controller exhibits good robustness against the base oscillation and payload uncertainty.

Development of base oscillation models and regulatory approaches to the calculation of critical structures for seismic impacts

Two principal approaches to generating calculated seismic impacts, proposed in the practice of earthquake - resistant construction, were used and refined: for the construction site and for the structure. There are special, emergency and extreme seismic loads that create an emergency situation - the occurrence of a mode of beats or resonant vibrations, as well as self-oscillations (acute resonance), leading to a violation of either the operational properties or the load-bearing capacity of the structure. Proposals are formulated for the revision of the Russian standards of earthquake-resistant construction, based on three-level impact for responsible and unique structures using the proposed refined approaches to generating calculated seismic impacts.