NONLINEAR ADAPTIVE CONTROL OF A TWO-AXIS GUN-TURRET SYSTEM WITH BACKLASH

摘要

This paper considers one of the two-axis gun-turret systems which is subject to some inevitable factors such as the backlash in the gear-chain, that will deteriorate seriously the pointing accuracy. The complete mathematical descriptions of the dynamics including backlash are developed. Thus, by exploiting the characteristics of the model of the gun-turret system, a nonlinear adaptive control scheme is proposed to meet the stringent performance requirements. A so-called semi-global tracking is achieved, and several simulation results are provided to demonstrate the validity of the proposed strategies.