中文摘要：

针对一类坦克炮控伺服系统，充分考虑系统中的未知齿隙非线性及摩擦非线性，将这些未知非线性的影响表示成有界扰动项与未知非线性动态项之和．借助ARCf自适应鲁棒控制）的思想设计控制器．当未知非线性动态项为零时，控制器即为自适应控制器，保持系统稳定的同时实现对参考信号的精确跟踪．而当系统存在未知非线性动态项时，控制器具有很好的鲁棒性，保持系统所有信号有界的同时实现对参考信号的误差跟踪，且跟踪误差可以由设计参数的取值设定来任意调节．与现有结果相比，控制器的设计建立在充分考虑系统未知非线性的影响之上，从而避免了简单的把未知非线性影响简单的考虑成系统“总扰动”所造成的被控系统性能的损失．

英文摘要：

An adaptive robust control scheme is proposed for gun control servo system of tank with unknown friction and backlash. The affection of these unknown nonlinearities is seen as the sum of unknown ＇disturbance and unknown nonlinear function. The stability of closed loop systems and tracking performance can be guaranteed by the adaptive robust control scheme. While the nonlinear affection is existence the tracking error can be ensured within an arbitrarily given small bound. Compared with some existing results, the possible loss of performance caused by dealing with all unknown nonlinearities as ＇all disturbance＇ can be avoided by this adaptive robust controller.