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Considering the characteristics of the artillery control system, such as disturb, nonlinearity and high inertia, a new control solution to artillery position control problems is proposed. It is through variable structure controller (VSC) based on extended state observer (ESO), where the disturbance and high-order factors are estimated and compensated by using ESO. The dynamic compensation reduces the motion system to approximately a triple integrator which can be easily controlled by VSC. The controller has the inherently robustness against the changing of model because of VSC. Through tests, it is shown that the proposed approach is better than the engineering PID and general VSC. Furthermore, the chatter of VSC is reduced, because ESO provides a high-frequency path for the dynamic state which is not modeling.