The design of a disturbance observer for moving target tracking of an unmanned firearm robot

This is a study of a disturbance observer design that minimizes vibration and misaim that occurs when firing at a moving object from a gun installed on a robot which is attached to a vehicle. We effectively reduce 15Hz/sec vibrations and examine a control system required in high speed and high precision tracking. The firearm robot was modeled using the multi-object dynamic software, ADAMS. The deduced control algorithm simulation used Matlab Simulink. To examine whether the control results of the simulation and real control system program were the same, C coding was used to link Matlab Simulink and DSP. Results of the disturbance observer function were satisfactory.