PRECISE CONTROL OF AN ELECTROMECHANICALLY-ACTUATED LAUNCHER UNDER PARAMETER UNCERTAINTY

Dynamic modeling and control of two-degree-of-freedom launchers which are utilized for launching munitions such as missiles and rockets have become one of the most popular fields in recent years. Control of launch vehicles gains more importance especially when they are mounted on moving vehicles. In this study, the mathematical modeling and control with parameter uncertainties of a high-accuracy two-degree-of-freedom electromechanically-actuated launcher are investigated in the direction of reducing the impact impulse on the control system. In this context, after the dynamic equations of the system are derived, the design of convenient control systems is carried out so as to reduce the undesired contribution of the thrust effect. In control, computed torque and proportional, integral, and derivative (PID) and computed torque and sliding mode control algorithms, and computed torque and sliding mode control cascaded control algorithms are developed by taking the parameter uncertainties into consideration. In the conclusion part, the performance characteristics of these controllers are compared and it is shown that the cascaded control scheme yields more satisfactory results in accurate position control. In the computer simulations conducted in this extent, the MATLAB O software and its SIMULINK O module are utilized.