Active disturbance rejection adaptive precision pointing control for bidirectional stability system of moving all-electric tank

Abstract

This article presents an active disturbance rejection adaptive precision pointing controller for all-electric tank bidirectional stability system in high speed driving environment. First, a comprehensive dynamic model for mechatronics and control integration of bidirectional stability system is modeled. Second, the backstepping idea is introduced to perfectly incorporate the parameter adaptive technique and the extended state observer to design a targeted control strategy. The matched and mismatched uncertainties of the system can be estimated separately with the construction of two extended state observers, while a novel adaptive function updated simultaneously via tracking and observation errors is synthesized to deal with the parametric uncertainties. Finally, theoretical analysis and extensive comparative results verify that the proposed controller is effective.

Keywords: Adaptive control; Backstepping; Bidirectional stability system; Disturbance rejection; Extended state observer.