Prescribed Performance Dynamic Surface Control of Hydraulic-driven Barrel Servo System with Disturbance Compensation

This research focuses on the position tracking control of the rotating barrel of large caliber artillery. Based on a nonlinear state-space model of the hydraulic-driven barrel servo system (HDBSS) with extensive non-linearities and uncertainties, a disturbance observer-based prescribed performance dynamic surface controller is proposed. The disturbance observer simultaneously estimates the mismatched and matched disturbances. The prescribed performance constraints predetermine the boundary of the output error. Inspired by the barrier Lyapunov function (BLF), conversion from the original constrained system into an an equivalent error-constrained system’ is realized via a novel error transformation function, which efficiently avoids the calculation of the logarithmic part of the traditional prescribed performance controller. Furthermore, dynamic surface technology is applied in the last step of backstepping controller design to avoid the complexity of differential explosion. The stability and convergence of the closed-loop system are theoretically proven. The effectiveness of the proposed controller is verified by extensive comparative experimental results.