Study on Unsymmetrical Control of a Vehicle Mounted Robotic Arm System with both Output Constraints and Interference Uncertainty

This article is mainly talking about how to construct an unsymmetrical control strategy to achieve the control goals of vibration attenuation of mechanical arm and position tracking of angle and vehicle for a vehicle mounted robotic arm system with both time-varying output constraints and interference uncertainty. Such a vehicle mounted robotic arm system is mathematically expressed as three governing equations involving integral-partial differential equations and four boundary conditions involving partial differential equations. To take considerations of the impacts of time-varying output constraints on vehicle mounted robotic arm system and ensure that the constraints conditions are satisfied, a class of Lyapunov functions of logarithmic barrier type and an efficient unsymmetrical boundary control strategy consisting of three control actuators which are located in different locations are put forword. At last, the conclusion that above mentioned unsymmetrical boundary control strategy is working and instrumental for vibration attenuation and position tracking can be drawn by both Lyapunov’s theory and simulation results.