Linear Quadratic Gaussian Control of a Nonlinear Drive System

The application of Linear Quadratic Gaussian control theory to a highly nonlinear turret system is investigated. Key objectives are tolerance to very large geartrain backlash and to base motion disturbances. A design consisting of a Linear Quadratic Regulator for control, coupled with an extended Kalman filter for base motion rejection, and a backlash estimation scheme is developed and evaluated via simulation. Significant accuracy and settling time improvements are attained. Excessive backlash, however, can limit the ability to reject base motion disturbances.