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.

中文翻译：

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坦克稳定性的自适应鲁棒控制：一种约束遵循方法

本文解决了基于约束跟随的储罐稳定性控制问题。目标是设计一种控制来驱动坦克稳定性控制系统近似遵循预先指定的稳定性约束：考虑（可能）随时间变化的不确定性（包括系统建模误差和道路激励），如果桶偏离目标角度，驱动任意接近目标角度；如果枪管指向目标角度，驱动它留在那里。这被表述为近似约束跟随控制的问题。首先，作为基于模型的控制设计对象，得到具有系统建模误差和道路激励的坦克稳定性控制系统的动力学方程。其次，作为控制目标，制定了稳定性约束。第三，作为控制策略，提出了近似约束跟随的自适应鲁棒控制。第四，作为控制对象，利用多体动力学软件RecurDyn建立了坦克在颠簸路面行驶的虚拟样机模型。最后，通过联合仿真对坦克稳定性系统进行实时伺服控制和目标观测。它表明约束跟随误差在 1.5 秒内迅速收敛到 10 - 4。这样，即使坦克在行驶中受到频繁的道路激励干扰，坦克稳定性控制系统也能始终保持稳定。坦克稳定性系统的实时伺服控制和目标观测通过联合仿真进行。它表明约束跟随误差在 1.5 秒内迅速收敛到 10 - 4。这样，即使坦克在行驶中受到频繁的道路激励干扰，坦克稳定性控制系统也能始终保持稳定。坦克稳定性系统的实时伺服控制和目标观测通过联合仿真进行。它表明约束跟随误差在 1.5 秒内迅速收敛到 10 - 4。这样，即使坦克在行驶中受到频繁的道路激励干扰，坦克稳定性控制系统也能始终保持稳定。