The Impact-point Prediction of Projectile for Moving Tank Based on Adaptive Robust Constraint-following Control

To improve the hit probability of tank firing at high speed, an adaptive robust control strategy considering the exterior ballistic process is proposed based on constraint-following control, which is used to predict the impact point of projectile. First, the rigid-flexible coupling multibody system dynamics model of moving tank is constructed with nonlinear factors and uncertainty such as the flexible barrel, contact clearance, road excitation, and so on. Second, based on Udwadia-Kalaba theory, bidirectional stability constraints and constrained following error are constructed, and an adaptive robust controller considering model uncertainties and external disturbance is designed. Then, by combining the ordinary differential equation of exterior ballistic with the controller, the impact-point control of projectile is realized through coordinate transformation and geometric relations. Finally, the co-simulation demonstrates that it is feasible to integrate the exterior ballistic differential equation into the control system. And the proposed method has strong robustness while the tank is moving at high speed, which can effectively restrain the nonlinear factors and uncertainty, and meet the requirements of impact-point prediction.