Design of robust controller for multi-functional remote weapon carrier

This paper addresses a design of robust controller for a multi-functional remote weapon carrier, mainly including establishing a nonlinear/linear system model and designing a digital robust controller with convergent manifold, to control the weapon carrier to be satisfied the system stable requirements and precision positioning control. First, the nonlinear/linear parameter estimation is fulfilled to obtain the system dynamic model. Second, by predicting the system dynamic behavior and estimating the external disturbances, the digital robust controller is designed. Using double closed loop control with transformers of a gyro and an encoder, the digital controller possesses the robust characteristic to eliminate various external disturbances under the situations of loading and disturbances, so that the weapon carrier can promptly aim at the target. The system stability and positioning specifications are both demonstrated by use of the digital robust controller. The nonlinear/linear parameter estimation and the system standard operation procedure are both provided for designing the other weapon carrier. Using the comparison of computer simulations and practical testing, the superior parameter estimation result and positioning precision can be demonstrated. Finally, the main goal of providing a design of robust controller for multi-functional remote weapon carrier with gyro is completed.