Optimal design of robust control for fuzzy mechanical systems with flexible components

This paper focuses on a fuzzy optimal design scheme for pointing control of the moving tank. The uncertainty of the system is nonlinear and time-varying (possibly fast) but can be described by bounded fuzzy sets. First, by building the dynamic model of the flexible barrel with a variable cross-section area, a method is proposed to obtain the muzzle angle in real time based on vibration theory rather than sensors. Second, the control objective of the system is transformed from the system state to the constraint following error based on the approximate constraint following theory. Third, the unknown uncertainty of the system is described by a fuzzy set and is coped with by proposing a robust control. Fourth, the control parameter optimal design is proposed after considering the effect of control inputs on the adjustment time and barrel vibration. The optimal control parameter is obtained by presenting and minimizing a fuzzy performance index. This paper achieves more precise pointing control by using the muzzle angle as the control feedback and the optimal design after proposing robust control.