Adaptive output feedback robust control of vehicle gun stability system with matched and mismatched uncertainty...

In this article, an adaptive output feedback robust controller is developed for the vehicle gun stability system with matched and mismatched uncertainty that inevitably exist and degrade the tracking response performance. First, the electromechanical coupled dynamical equation for vehicle gun stability system containing unmodeled disturbance and lumped uncertainty is developed. Second, adaptive control is fused with state observer and disturbance observer to actively compensate for parametric uncertainty, matched and mismatched uncertainty adopting output feedback control. The parameter adaptive law is utilized to update the unknown system parameters in real time, two modular observers are constructed for estimating the mismatched uncertainty of mechanical channel and the matched uncertainty of actuator electrical channel, respectively. The advantage of the presented control approach lies in the targeted resolution of parameter uncertainty and other uncertainty, which improves the learning efficiency for both extended state observer and disturbance observer. Third, the stability analysis shows that the proposed adaptive output feedback robust controller can ensure that the vehicle gun stability system has consistent bounded tracking performance, and achieves the promised transient effect and prescribed stable accuracy under the condition of unmodeled disturbance. Contrastive co-simulation and experiments are conducted to verify the highly performance nature and practical engineering value of the proposed controller.