Base-backstepping Continuous Time-varying Feedback Control of Automatic Magazine with Modelling Uncertainty

This paper proposes a continuous time-varying feedback control based on back-stepping for automatic magazine system, in which the control gains depend on the Lyapunov function to ensure the robustness against modelling uncertainty. The Lyapunov function, which is implicit, is differentiable functions of system error variables. Integrated with backstepping control, the performance of the automation magazine system is greatly improved, while retaining the advantage of only needing to ensure the bounds of disturbances. Lyapunov analysis shows tracking errors of the system are asymptotically stable. In addition, this proposed controller is continuous and has the characteristics of simplicity and practicality, which are beneficial to practical applications. Finally, Numerical simulations are provided to verify the high performance of the controller by comparing the simulation experimental results in automation magazine system.