Adaptive Robust Servo Control for Vertical Electric Stabilization System of Tank and Experimental Validation

Abstract

A tracking stability control problem for the vertical electric stabilization system of moving tank based on adaptive robust servo control is addressed. This paper mainly focuses on two types of possibly fast time-varying but bounded uncertainty within the vertical electric stabilization system: model parameter uncertainty and uncertain nonlinearity. First, the vertical electric stabilization system is constructed as an uncertain nonlinear dynamic system that can reflect the practical mechanics transfer process of the system. Second, the dynamical equation in the form of state space is established by designing the angular tracking error. Third, the comprehensive parameter of system uncertainty is designed to estimate the most conservative effects of uncertainty. Finally, an adaptive robust servo control which can effectively handle the combined effects of complex nonlinearity and uncertainty is proposed. The feasibility of the proposed control strategy under the practical physical condition is validated through the tests on the experimental platform. This paper pioneers the introduction of the internal nonlinearity and uncertainty of the vertical electric stabilization system into the settlement of the tracking stability control problem, and validates the advanced servo control strategy through experiment for the first time.

Keywords

• Adaptive robust servo control
• Experimental validation
• Nonlinearity compensation
• System uncertainty
• Vertical electric stabilization system