Modeling and Compound Control for Unmanned Turret System With Coupling

In this paper, the modeling and tracking control problem of unmanned turret system (UTS) is addressed. To guarantee the feasibility of modeling and control, three-axis stabilization is analyzed. A complete mathematical model for UTS is then established based on robotic analysis technique. The coupling model also takes inner parameters perturbation and external disturbances into consideration. To achieve rapid response and high tracking precision, a fast nonsingular terminal sliding mode control scheme is designed compounding with extended state observer (ESO). Owing to the estimating ability of ESO, this control scheme can reduce the chattering phenomena remarkably. Finally, simulation results are presented to illustrate effectiveness of the control strategies.

[1]  Yuanqing Xia,et al.  Compound Control Methodology for Flight Vehicles , 2013 .

[2]  Gautam Kumar,et al.  A study of a gun-turret assembly in an armored tank using model predictive control , 2009, 2009 American Control Conference.

[3]  Tzyh Jong Tarn,et al.  Robot arm dynamic control by computer , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[4]  Zhihong Man,et al.  Continuous finite-time control for robotic manipulators with terminal sliding mode , 2003, Autom..

[5]  Jun Yang,et al.  Generalized Extended State Observer Based Control for Systems With Mismatched Uncertainties , 2012, IEEE Transactions on Industrial Electronics.

[6]  Jingqing Han,et al.  From PID to Active Disturbance Rejection Control , 2009, IEEE Trans. Ind. Electron..

[7]  Shihua Li,et al.  Speed Control for PMSM Servo System Using Predictive Functional Control and Extended State Observer , 2012, IEEE Transactions on Industrial Electronics.

[8]  Zhihong Man,et al.  Non-singular terminal sliding mode control of rigid manipulators , 2002, Autom..

[9]  Yuanqing Xia,et al.  Attitude Tracking of Rigid Spacecraft With Bounded Disturbances , 2011, IEEE Transactions on Industrial Electronics.

[10]  Wang Jianfeng,et al.  A simple control approach for weapon pointing systems in the task space , 2013, Proceedings 2013 International Conference on Mechatronic Sciences, Electric Engineering and Computer (MEC).

[11]  Robert N. K. Loh,et al.  Control of Weapon Pointing Systems Based on Robotic Formulation , 1992, 1992 American Control Conference.

[12]  Hong Ren Wu,et al.  A robust MIMO terminal sliding mode control scheme for rigid robotic manipulators , 1994, IEEE Trans. Autom. Control..

[13]  Yuanqing Xia,et al.  Application of active disturbance rejection control in tank gun control system , 2011, 2011 IEEE 5th International Conference on Cybernetics and Intelligent Systems (CIS).

[14]  Xiaoli Ma,et al.  Optimal and nonlinear decoupling control of systems with sandwiched backlash , 2001, Autom..

[15]  Yuanqing Xia,et al.  Adaptive attitude tracking control for rigid spacecraft with finite-time convergence , 2013, Autom..

[16]  Yuanqing Xia,et al.  Controller design for rigid spacecraft attitude tracking with actuator saturation , 2013, Inf. Sci..

[17]  Chen Long-miao.  Neural Sliding Mode Control for Tracking of Axis of Firepower of Unmanned Turret , 2011 .