A Nonlinear Controller for the Gun Turret System

Modern nonlinear servomechanism theory is adapted to cope with the hard nonlinearities inherent in the gun turret system. This is accomplished by approximating the backlash and Coulumb friction by well behaved functions, and then synthesizing a nonlinear controller based on the scheme of "feedback stabilization" and "feedforward steady state compensation". Simulations show that this controller is indeed effective in counteracting the backlash and Coulumb friction, thus leading to a great improvement on the tracking accuracy of the gun turret system.