Backstepping control with nonlinear disturbance observer for tank gun control system

To solve the tracking control of tank gun system with friction on low speed, a method of backstepping sliding control with a nonlinear disturbance observer is presented. The nonlinear disturbance observer is used to approximate complicated unknown friction and external disturbance. According selecting design parameters, the disturbance observer can be exponential stability. The backstepping sliding controller is designed for the tank gun system with disturbance observer. The controller can provide robustness to friction and external uncertainties. This method can guarantee the stabilization of the closed-loop systems. Finally, simulation results are presented to illustrate the effective and the applicability of the suggested method.