Jitter control for an initially stablized tactical rifle

While good marksmanship is the key to the effectiveness of the infantry mission, all soldiers experience a decrease in accuracy due to combat stress that generates detrimental physiological effects. INSTAR is a tactical rifle designed to 14 address these effects by decoupling unwanted shooter-induced disturbances from the barrel via an active suspension system. Previous papers have addressed the design of the active suspension system: the actuation, driving electronics and power supply. In this paper we consider the development of the jitter control system. Beginning with an analytical model of the gun that includes the shooter, we develop the appropriate model for the design of the control system. We investigate two designs. The first design is based on lead compensation. The second design is based on LQG. Both designs show that the control system can effectively reduce the jitter to acceptable levels. The classical compensator demonstrates better transient performance.