This paper puts forward an unprecedented avoidance-striking-arrival problem aiming to address the need for tank's uncertain mechanical systems on the intelligent battlefield. The associated system uncertainties (possibly rapid) are time-varying but bounded (possibly unknown). The goal is to design a controller that enables the tank to aim at and attack the enemy tank while keeping itself (out of the enemy fire zone). The tank maintains this condition until reaching the predefined region. In this paper, an approximate constraint following control method is adopted to solve this problem, and the original constraints are creatively divided into two categories: the avoidance - tracking constraint and the striking - arrival constraint. An adaptive robust control method is proposed and consequently verified through simulation experiments. It is proved that the system fully obeys the avoidance - tracking - constraint and strictly obeys the striking - arrival constraint under the control input $\tau$. Besides, the control of the tank vehicle running system and tank gun bidirectional stabilization system are unified to deal with the control signal delay caused by complex uncertainties on the battlefield. Overall, this paper reduced the delay of signal transmission in the system while solved the avoidance - striking - arrival problem.

本文针对智能战场上坦克不确定机械系统的需求，提出了前所未有的回避-打击-到达问题。相关的系统不确定性（可能是快速的）是随时间变化的，但有界（可能未知）。目标是设计一个控制器，使坦克能够瞄准并攻击敌方坦克，同时保持自身（远离敌方火区）。坦克保持这种状态，直到到达预定区域。本文采用一种近似约束跟随控制的方法来解决这个问题，并将原有的约束创造性地分为两类：回避-跟踪约束和打击-到达约束。提出了一种自适应鲁棒控制方法，并通过仿真实验进行了验证。$\tau$. 此外，对坦克车运行系统和坦克炮双向稳定系统的控制进行统一，以应对战场上复杂的不确定性导致的控制信号延迟。总体而言，本文在解决回避-打击-到达问题的同时，减少了系统中信号传输的延迟。