Control of Weapon Pointing Systems Based on Robotic Formulation

A robotic formulation and control of weapon pointing systems are investigated. Specifically, a complete mathematical model for a helicopter and tank gun-turret system has been developed based on robotic formulation and methodology. The resultant mathematical model will automatically take into account the interaxis dynamics and nonlinear coupling between the azimuth and elevation axes, thereby providing more insight into the physics of the gun-turret characteristics. One of the major advantages of the proposed approah is that modern robotic technology, known for its versatility and ability to meet stringent performance requirements, can be utilized in the design and implementation of a large class of modern weapon pointing and platform systems with superior performance capabilities.