A Control Scheme Towards Accurate Firing While Moving for a Mobile Robotic Weapon System with Delayed Resonators

In the present paper a mobile robotic weapon system is considered. The system comprises of a ground vehicle equipped with a robotic manipulator carrying a gun. The goal is to perform accurate firing while moving and despite the vibrations due to uneven ground and reaction weapon forces. The vehicle is considered to be equipped with passive and active suspension systems. The active suspension involves delayed resonators feeding back the resonators’ acceleration. Using the Euler-Lagrange approach, the model of the system is derived in the form of a nonlinear neutral time delay mathematical description. From the system design point of view, the goal is formulated as a command following problem with simultaneous disturbance attenuation, under appropriate constraints. To achieve these goals, an algebraic control scheme based on the linear approximant of the system’s model is proposed. The controller is of the measurable output feedback dynamic type. Despite the complexity of the system’s model, the derived controller is realizable in the sense that no predictors are required and is simple enough to be implemented to low level computer platforms. Thus the proposed controller offers itself to upgrade traditional armed ground vehicles. This upgrade appears to be of low cost. The good performance of the proposed controller is demonstrated through computational experiments upon the nonlinear model of the system.