中文摘要：

针对坦克炮控系统未知齿隙及摩擦,设计了基于性能的新型控制器。提出了基于侵入和不变流型（I＆I）的未知参数估计率的构造方法,使调节函数的选取及I＆I估计率的设计变得直接简便。由于未知齿隙及摩擦被充分的描述成有界扰动与非线性动态项的组合,从而避免了将其简单的考虑成＂总扰动＂所造成的被控系统性能的损失。该控制器可有效抑制负载扰动及参数变化所带来的影响.同时通过快速准确的估计系统参数实现了对指令信号快速精确的跟踪。

英文摘要：

A new adaptive robust control scheme is proposed for gun control servo system of tank with unknown backlash and friction based on immersion and invariant approach.The possible loss of performance caused by dealing with all unknown nonlinearities as overall disturbancecan be avoided successfully.The influence caused by load disturbance and unknown parameters varieties are restrained.The construction theory of update laws based on II technology and the direct design approach of tuning functions are proposed.The unknown parameters can be estimated quickly and accurately by II update laws,therefore tracking performance can be guaranteed.