Asymmetric Input Constraint Control of a Vehicle-Manipulator System With Disturbance

The primary content of this article is the design and research of position tracking and vibration displacement control algorithm for a vehicle-manipulator system with asymmetric input constraint and uncertain disturbances. The dynamic of such a vehicle-manipulator system can be seen and described as the coupling of a number of integral-partial differential equations. For the considered asymmetric input constraint, two auxiliary systems are put forward as useful solution to handle asymmetric input saturation issue and a simple and efficient PD control algorithm is also proposed to guarantee the realization of position tracking and vibration displacement control. Finally, in addition to the Lyapunov’s theory, numerical simulation results also illustrate that the control effect of proposed algorithm is satisfactory.