Adaptive robust control of moving-target tracking for marching tank based on constraint following

Abstract

This paper is devoted to the constraint-following scheme for the moving-target tracking control problem of tank on move. The mission of tank on the battlefield is to find and shoot the armored vehicle, both conditions are required to accomplish this task: complete the process from finding a moving target (time-varying constraints) to pointing to it; keep the barrel stable under highly nonlinear disturbance (which is caused by the battlefield environment). Considering modeling uncertainty and initial condition deviation, an adaptive robust strategy based on Udwadia-Kalaba scheme is presented to solve the matters of target tracking and stable following. Considering the limitation of the analytical model, a tracking system model and a target movement model are built in virtual prototyping environment, complicated road condition, and real target motion state are restored by this method. The model-based control system and the three-dimensional model are combined to verify the feasibility of the control algorithm by the method of RecurDyn/Matlab. By this way, the barrel responds and follows the movement of the target stably within $1.5$  s under the action of the stabilization system, and the constraints are approximately satisfied under complex perturbations.