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

Authors :
Yuan, Shusen
Deng, Wenxiang
Yao, Jianyong
Yang, Guolai
Source :
Defence Technology; 20230101, Issue: Preprints
Publication Year :
2023

Abstract

Since backlash nonlinearity is inevitably existing in actuators for bidirectional stabilization system of all-electric 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.

Details

Language :
English
ISSN :
22149147
Issue :
Preprints
Database :
Supplemental Index
Journal :
Defence Technology
Publication Type :
Periodical
Accession number :
ejs63682238
Full Text :
https://doi.org/10.1016/j.dt.2023.05.019