Adaptive robust control for tank stability: A constraint-following approach

Abstract

This article addresses a control problem for tank stability based on constraint following. The objective is to design a control to drive the tank stability control system to follow a pre-specified stability constraint approximately: with the consideration of (possibly) time-varying uncertainty (including system modeling error and road excitation), if the barrel deviates from the target angle, drive it to be arbitrarily close to the target angle; and if the barrel points to the target angle, drive it to stay there. This is formulated as a problem of approximate constraint-following control. First, as the model-based control design object, the dynamic equation of the tank stability control system with the system modeling error and the road excitation is obtained. Second, as the control objective, the stability constraint is formulated. Third, as the control strategy, an adaptive robust control is proposed for approximate constraint following. Fourth, as the control object, a virtual prototype model of tank driving on bumpy road is established with multi-body dynamics software RecurDyn. Finally, real-time servo control and target observation of the tank stability system are performed by co-simulation. It shows that the constraint-following error converges quickly to 10 − 4 in 1.5 s. By this, the tank stability control system can be always stable even if the tank is driving and disturbed with frequent road excitation.