Optimal Design for Constraint Following Control of Tank Bi-Directional Stabilized Systems Based on Nash Game

This article proposes a robust control optimization design problem based on Nash game-theoretic for the marching tank bi-directional stabilization system of an all-electric actuator, which is accompanied by complex uncertainty (possibly fast time-varying but bounded). The task is to drive the barrel firing angle to adjust to a specified position under complex uncertainty while ensuring that multiple design parameters are optimally chosen in the controller. Firstly, the machine-electric coupled dynamics equations with uncertainty are created in the form of state space. Secondly, a robust controller with two design parameters to be chosen is given so that the constraint following error has uniform boundedness and uniform ultimate boundedness. Thirdly, a Nash game cost function consisting of three components: performance cost, time cost and control cost is proposed, and the Nash equilibrium (i.e., optimal control parameters) is obtained by minimizing the cost function. Finally, a co-simulation experimental platform is built to verify the robustness of the controller under complex uncertainty (modeling errors, uncertain disturbances and road excitation) and to demonstrate the global optimal performance of the system under optimal design parameters.