Pointing tracking control of marching turret-barrel system is one of the important topics in exploration of intelligent ground combat platform. This paper focuses on an adaptive robust control scheme for pointing tracking of marching turretbarrel system driven by a motor and an electric cylinder. Three types of possibly fast time-varying but bounded uncertainty are considered: system modeling error, external disturbance and road excitation. The uncertainty bounds are not necessary to be known. First, the pointing tracking system is constructed as a coupled, nonlinear and uncertain dynamical system with two interconnected (horizontal and vertical) subsystems. Second, a tracking error e is defined as a gauge of control objective, and then the dynamical equation of the pointing tracking system is built in state-space form. Third, for uncertainty control, a comprehensive uncertainty bound α is derived to measure the most conservative influence of the uncertainty, and then an adaptive law is proposed to evaluate it in real time. Finally, for pointing tracking control, an adaptive robust control is proposed to render the pointing tracking system to be practically stable; thereout, the objective of pointing tracking is achieved. This work should be among the first ever endeavours to cast all the coupling, nonlinearity and bound-unknown uncertainty into the pointing tracking framework of marching turret-barrel system.

This article addresses a cooperative game-oriented optimal constraint-following problem for fuzzy mechanical systems. The state of the concerned system is affected by possibly (fast) time-varying uncertainty. The fuzzy set theory is adopted to describe such uncertainty. The task is to drive the system to obey a set of prescribed constraints optimally. Since the control objective may be changing along with the system uncertainty, a time-varying β-measure is defined to gauge the constraint-following error; based on which, an adaptive robust control scheme with two tunable parameters is then proposed to render it to be uniform boundedness and uniform ultimate boundedness. For the seeking of the optimal design parameters, two cost functions, each of which is dominated by one tunable parameter, are developed with the fuzzy information, and thereout a two-player cooperative game is formulated. Finally, the optimal design problem is successfully solved: with the existence, uniqueness, and analytical expression of the Pareto optimality.

This paper proposes an optimal parameter design of control scheme for mechanical systems by adopting the Stackelberg game theory. The goal of the control is to drive the mechanical system to follow the prescribed constraints. The system uncertainty is (possibly fast) time-varying and bounded. A β-measure is defined to gauge the performance. A robust control is

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