Adaptive Sliding Mode Control of Projectile Transfer Manipulator Based on Double Power Approach Law

An adaptive sliding mode control algorithm based on the double power approach law is proposed toward the problem of the precision of the manipulator's rotary motion in the automatic loading system of ammunition.The speed of approaching the sliding surface is accelerated, and the chattering phenomenon during switching is reduced by adopting the double power approach law.Parameter variation and external disturbance of the system using adaptive control rate estimation.The simulation results show that this method has better tracking accuracy for the expected trajectory and less positioning error, and it is robust to system parameter changes and external disturbances.