Error-Tracking Iterative Learning Control for Gun Control Servo System of Tank

Abstract

A novel error-track iterative learning control scheme is proposed to tackle velocity tracking problem for gun control servo system of tank. Firstly, the system modeling for gun control servo system of tank is introduced as a preparation of developing the control law. Then, with the desired error trajectory being constructed to deal with the initial problem of iterative learning control, an error-tracking adaptive iterative learning controller is designed by using Lyapunov approach. The nonlinear uncertainties and external disturbances are compensated by integrating adaptive learning control and robust control. As the iteration number increases, the system error of tank servo system converges to the desired error trajectory over the whole time interval, which renders the system state to accurately track its reference signal during the predetermined part time interval. All signals in the closed loop system are guaranteed to be bounded. Numerical simulations demonstrate the effectiveness of the proposed control scheme.