Aiming at parametric uncertainties and unmodeled disturbances of tank turret-gun control systems, this paper presents an adaptive control scheme via full state feedback. The basic idea of this control scheme is to combine adaptive control with extended state observer through back stepping method. The control scheme can effectively improve the stabilization accuracy of the marching tank. Based on the interaxial coupling nonlinear dynamic model of the tank turret-gun systems, an extended state observer is constructed to observe the unmodeled disturbance of the systems in real time to suppress its adverse effects and a parameter adaptive law is designed to learn and compensate the parametric uncertainties of the tank turret-gun control systems. The proposed active disturbance rejection adaptive control algorithm can simultaneously deal with the parametric uncertainties and unmodeled disturbances of the tank gun control systems. As a result, it can avoid the problem of high-gain feedback and improve the servo performance of the tank turret-gun control system. The controller theoretically has asymptotic tracking performance in the presence of parametric uncertainties and constant disturbances. In addition, prescribed transient tracking performance and final tracking accuracy can also be guaranteed when existing time-variant uncertain nonlinearities. A large number of comparative simulation results are obtained to verify the high performance nature of the proposed control strategy.
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