Nonlinear robust adaptive control for bidirectional stabilization system of all-electric tank with unknown actuator backlash compensation and disturbance estimation  

作　　者：Shusen Yuan Wenxiang Deng Jianyong Yao Guolai Yang 

机构地区：[1]School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing,210094,China

出　　处：《Defence Technology（防务技术）》2024年第2期144-158,共15页Defence Technology

基　　金：the National Natural Science Foundation of China(No.52275062)and(No.52075262).

摘　　要：Since backlash nonlinearity is inevitably existing in actuators for bidirectional stabilization system of allelectric tank,it behaves more drastically in high maneuvering environments.In this work,the accurate tracking control for bidirectional stabilization system of moving all-electric tank with actuator backlash and unmodeled disturbance is solved.By utilizing the smooth adaptive backlash inverse model,a nonlinear robust adaptive feedback control scheme is presented.The unknown parameters and unmodelled disturbance are addressed separately through the derived parametric adaptive function and the continuous nonlinear robust term.Because the unknown backlash parameters are updated via adaptive function and the backlash effect can be suppressed successfully by inverse operation,which ensures the system stability.Meanwhile,the system disturbance in the high maneuverable environment can be estimated with the constructed adaptive law online improving the engineering practicality.Finally,Lyapunov-based analysis proves that the developed controller can ensure the tracking error asymptotically converges to zero even with unmodeled disturbance and unknown actuator backlash.Contrast co-simulations and experiments illustrate the advantages of the proposed approach.

关 键 词：Bidirectional stabilization system Robust control Adaptive control Backlash inverse Disturbance estimation 

分 类 号：TJ811[兵器科学与技术—武器系统与运用工程]