关键词: 无人车载炮, 稳定系统, 扩张状态观测器, 自适应控制, 扰动补偿

Abstract: Aiming at the complex nonlinearity and random disturbance in the stabilization system of moving unmanned vehicle-mounted guns, a composite control strategy combining active disturbance rejection adaptive control is proposed. The electromechanical coupling dynamic equations of the unmanned vehicle-mounted gun stabilization system are established considering the actuator dynamics and model uncertainties. Based on the backstepping approach, adaptive control is ingeniously integrated with the extended state observer (ESO), constructing parameter adaptation laws to update the unknown parameters of the system online. A dual-channel ESO is used to estimate the matched and unmatched disturbances in real time and provide feedforward compensation. Since the parameter uncertainties of the stabilization system are mainly addressed by adaptive technology, the learning burden of the ESO is further reduced, improving the tracking performance of the moving unmanned vehicle-mounted gun stabilization system and avoiding the impact of high-gain feedback. The stability analysis based on the Lyapunov function indicates that asymptotic control for stabilization system of the vehicle-mounted gun can be achieved when only constant disturbances are present, and even in the presence of time-varying uncertainties, prescribed transient performance and tracking accuracy can still be ensured. Comparative co-simulations and experimental tests demonstrate the effectiveness and feasibility of the active disturbance rejection adaptive composite control strategy.

Key words: unmanned vehicle-mounted guns, stabilization system, extended state observer, adaptive control, disturbance compensation