The increasing demand for artillery firepower,coupled with the growing size of gun barrels,imposes significant challenges on servo system performance.To address these challenges while ensuring fast and stable response...The increasing demand for artillery firepower,coupled with the growing size of gun barrels,imposes significant challenges on servo system performance.To address these challenges while ensuring fast and stable response,this paper proposes an adaptive robust controller based on an asymmetric barrier Lyapunov function(ABLF).The controller design incorporates both load and driver states through a backstepping synthesis.The overshoot and lag of barrel position errors are constrained within asymmetric boundaries,accounting for complex rotational uncertainties via an adaptive law and linear extended state observers(LESO).Simulations and experiments under typical artillery operating conditions validate the effectiveness and dynamic tracking performance of the proposed control strategy in comparison with other methods.展开更多
文摘The increasing demand for artillery firepower,coupled with the growing size of gun barrels,imposes significant challenges on servo system performance.To address these challenges while ensuring fast and stable response,this paper proposes an adaptive robust controller based on an asymmetric barrier Lyapunov function(ABLF).The controller design incorporates both load and driver states through a backstepping synthesis.The overshoot and lag of barrel position errors are constrained within asymmetric boundaries,accounting for complex rotational uncertainties via an adaptive law and linear extended state observers(LESO).Simulations and experiments under typical artillery operating conditions validate the effectiveness and dynamic tracking performance of the proposed control strategy in comparison with other methods.
