Nonlinear Adaptive Robust Precision Pointing Control of Tank Servo Systems

This paper focuses on the high performance pointing control of tank servo systems with parametric uncertainties and uncertain nonlinearities including nonlinear friction, backlash structural flexibility. A comprehensive dynamic mathematical model two-DOF system is established. Specifically, to accurately describe friction characteristics in actual systems, a continuous employed. Moreover, hybrid combining flexibility transmission constructed characterize flexible coupling between input output shafts drive end for system. By using backstepping method, adaptive robust controller presented. In controller, law compounded dispose well-designed developed purpose coping unmodeled disturbances. The closed-loop stability analysis indicates that presented achieves an asymptotic tracking ensures robustness against disturbances theoretically. effectiveness proposed strategy verified by large number comparative simulation results.